Ball-Balancing Mobility Platform for Hands-Free Omnidirectional Travel
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Solution Overview
Problem
Manual wheelchairs cause upper extremity overuse injuries, require both hands for propulsion, and are limited on uneven terrains and tight spaces, while powered wheelchairs are heavy, large, and difficult to transport in tight spaces.
Innovation Solution
A modular, omnidirectional ballbot platform with self-balancing technology that allows hands-free movement using torso lean control and adaptable design for different users, incorporating advanced driving assistance and semi-autonomous navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual wheelchairs are used for mobility, then upper extremity strength is utilized for propulsion, but upper extremity overuse injuries occur and both hands are required for operation
Solution Approach 1:
The patent replaces the manual mechanical propulsion system with an automated ball-balancing robot system. The robot uses sensors, processors, and actuators to autonomously balance and move the user, eliminating the need for hand-powered wheel propulsion and preventing upper extremity overuse injuries.
Solution Approach 2:
The ball-balancing robot performs self-balancing and self-propulsion without requiring user intervention for steering or propulsion. The system uses onboard sensors and control algorithms to automatically maintain balance and navigate, freeing the user's hands for other activities.
2Ease of operation
If powered wheelchairs are used to assist mobility, then propulsion assistance is provided, but the devices become heavy and large requiring specialized transport
Solution Approach 1:
The patent employs a modular design where the power system, battery, control electronics, and propulsion mechanisms are integrated into compact modules within the ball-balancing robot. This segmentation allows for efficient space utilization and reduced overall weight compared to traditional powered wheelchairs.
Solution Approach 2:
The patent transitions from the traditional horizontal wheel-based propulsion to a vertical ball-balancing mechanism. By changing the dimension of motion from horizontal rolling to vertical balancing with omnidirectional capability, the system achieves propulsion assistance in a more space-efficient and lighter configuration.
3Adaptability or versatility
If traditional wheelchairs are used for mobility, then basic propulsion is achieved, but omnidirectional movement and access to tight spaces are limited
Solution Approach 1:
The patent uses a spherical ball as the primary contact point with the ground, replacing traditional cylindrical wheels. This spherical geometry enables omnidirectional movement in any direction without requiring multiple wheels or complex steering mechanisms, as the ball can roll freely in any orientation.
Solution Approach 2:
The ball-balancing robot employs dynamic balance control with continuously adjustable center of gravity and real-time orientation changes. The system uses active balancing algorithms that dynamically adjust the robot's posture and motor outputs to achieve and maintain balance during omnidirectional movement, enabling versatile navigation despite the simplicity of the ball contact mechanism.
Data Source
AI summary
This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.