Robotic Cane Omni-Directional Wheel Balance Control

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Conventional assistive devices, such as motorized wheelchairs, do not provide rehabilitation benefits or a sense of independence for individuals with mild to moderate lower extremity impairments, as they rely solely on assistance for walking and standing without promoting rehabilitation motions.

Innovation Solution

A robotic cane equipped with a motorized omni-directional wheel, balance control sensor, and controller module that uses an inverted pendulum control algorithm to maintain an upright position, allowing for user-assisted walking and standing while providing fall prevention and user-tracking features.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If motorized wheelchairs and user transportation devices are used, then users can travel from point A to point B with minimal effort, but users do not receive rehabilitation motions or procedures and lose independence

Engineering Contradiction:

Improveease of travelVSAvoidrehabilitation benefit

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The robotic cane combines multiple functions into a single device: it provides mechanical support for weight-bearing, delivers controlled rehabilitation motions through the oscillating mechanism, and enables independent mobility. This multi-functionality resolves the contradiction by making the device adaptable to both transportation and rehabilitation needs simultaneously

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The robotic cane employs dynamic motion characteristics with oscillating movements that simulate natural walking patterns. The controlled oscillation of the upper section provides progressive rehabilitation motions while maintaining stability, allowing the device to adapt between support mode and rehabilitation mode based on user needs

Inventive Principle:

Principle #15Dynamics

2Ease of operation

If users rely totally on motorized devices for assistance, then they can stand or walk with minimal effort, but they do not benefit from rehabilitation motions or procedures

Engineering Contradiction:

Improveease of standing and walkingVSAvoidrehabilitation outcome

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The robotic cane incorporates sensors that detect user weight, balance, and motion parameters, providing real-time feedback to the control system. This feedback mechanism allows the device to adjust rehabilitation motions dynamically, ensuring both safety during use and effective rehabilitation outcomes through progressive exercise routines

Inventive Principle:

Principle #23Feedback

3Force

If conventional assistive devices are used, then users receive physical assistance for walking and standing, but users do not gain a sense of independence

Engineering Contradiction:

Improvephysical support forceVSAvoiduser independence

Core Design Contradiction:

ForceVSAdaptability or versatility

Solution Approach 1:

The robotic cane is designed to be controlled by the user through intuitive interfaces, allowing them to select rehabilitation programs, adjust support levels, and monitor their own progress. This self-service capability empowers users to manage their own rehabilitation process, fostering independence while receiving necessary physical assistance

Inventive Principle:

Principle #25Self-service

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables users to walk and stand independently with physical assistance, promoting rehabilitation by maintaining balance and providing counter forces during falls, while allowing for user-tracking to maintain independence.

Implementation Method 1

calculates a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm

Methodology Applied

Scientific EffectInverted pendulum control:

Implementation Method 2

The proximity detector may provide a proximity signal corresponding to a position of a user with respect to the robotic cane

Methodology Applied

Scientific EffectProximity detection:

Implementation Method 3

a grip force sensor associated with the grip handle, and a controller module. The balance control sensor may provide a balance signal corresponding to an orientation of the robotic cane and the grip force sensor may provide a grip force signal to the controller module

Methodology Applied

Scientific EffectForce sensing:

Data Source

PatentUS8925563B2Robotic cane devices

Publication Date: 2015.01.06 TOYOTA JIDOSHA KK

AI summary

A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position.