Robot Controller State-Based Motion Execution Logic
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Solution Overview
Problem
Existing standing motion assist robots may unintentionally perform motions intended for other tasks, such as walking, when instructed by care-receivers, leading to unintended movements and potential falls.
Innovation Solution
A robot system with a tractor, walker, and controller that determines whether to execute instructions based on its current state, represented by brake application status, to prevent unintended motions by managing the walker's brakes and movement paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot executes all instructions input through the execution switch, then the robot responds quickly to user commands, but the robot may perform unintended motions that cause safety issues
Solution Approach 1:
The robot dynamically changes its operational mode between automatic and manual based on the current motion state. When a motion is in progress, the execution switch is disabled (automatic mode enforced); when idle, it accepts commands (manual mode). This dynamic switching prevents unintended motions while maintaining operational responsiveness.
Solution Approach 2:
The control unit continuously monitors the current motion state and provides feedback to determine whether to accept or reject new commands. This feedback mechanism ensures that commands are only executed when safe to do so, preventing unintended motions while maintaining system responsiveness.
2Reliability
If the robot disables the execution switch during motion to prevent unintended commands, then safety is improved, but the robot cannot respond to urgent stop commands
Solution Approach 1:
The control unit is segmented into different functional paths: one path handles execution switch commands (blocked during motion), while another path handles emergency stop commands (always accessible). This segmentation allows the emergency stop function to operate independently of the execution switch state, maintaining both safety and emergency responsiveness.
Solution Approach 2:
The control unit acts as an intermediary that selectively processes different types of commands. It mediates between the execution switch (blocked during motion) and the emergency stop button (unblocked), allowing urgent stop commands to bypass the motion-state restriction while preventing other unintended commands.
3Adaptability or versatility
If the robot allows mode switching during motion, then operational flexibility is improved, but the risk of unintended motions increases
Solution Approach 1:
The system takes preliminary anti-action by disabling the execution switch before any unintended command can be issued during motion. The control unit proactively prevents command input during motion states, eliminating the possibility of mode switching or command execution that could lead to unintended motions.
Data Source
AI summary
A robot includes a tractor, a walker, an input device, and a controller. The tractor includes a connector and pulls a user through the connector. The walker includes wheels for moving the tractor and one or more brakes for the wheels and is coupled to the tractor. The input device receives an instruction to operate at least one of the tractor and the walker. In response to reception of the instruction by the input device, the controller determines whether or not to permit the tractor and/or the walker to perform a process based on the instruction, in accordance with a current state of the robot, the current state being one of a plurality of states of the robot. Each state is represented by using values of items, one of the items being an item indicating whether or not the one or more brakes are applied to the wheels.