Master Controller for Powered Wheelchair and Exoskeleton Synchronization
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Solution Overview
Problem
Powered wheelchairs and exoskeletons often operate independently, leading to conflicts and unsynchronized movements when used together, which can cause collisions, user discomfort, or injury due to mismatched movements.
Innovation Solution
A master controller is introduced to communicatively couple the powered wheelchair and user-worn exoskeleton, allowing for coordinated movements by receiving input data on their positions and intended movements to prevent conflicts and synchronize actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the powered wheelchair and exoskeleton operate independently, then each device can function autonomously with its own control system, but movement conflicts and lack of synchronization occur between the two devices
Solution Approach 1:
The patent merges the independent control systems of the powered wheelchair and exoskeleton into a unified master-slave architecture. The master controller receives inputs from both devices and coordinates their movements, allowing them to function as an integrated system while maintaining their individual operational capabilities through selective activation modes.
Solution Approach 2:
The master controller serves as an intermediary device between the powered wheelchair and exoskeleton. It receives data from both devices, processes their movement intentions, and generates coordinated control signals to prevent conflicts and ensure synchronization, acting as a mediator that resolves potential movement conflicts before they occur.
2Reliability
If a master controller is introduced to coordinate movements between the powered wheelchair and exoskeleton, then movement synchronization and conflict prevention are achieved, but system complexity increases
Solution Approach 1:
The master controller is designed with multi-functionality to handle various coordination scenarios. It can manage synchronized movements, conflict resolution, priority-based control, and independent operation modes, consolidating multiple control functions into a single device that adapts to different operational requirements without requiring separate specialized controllers.
Solution Approach 2:
The control system architecture is designed to be dynamic, allowing the master controller to adjust its coordination strategy based on real-time conditions. The system can switch between different operational modes (synchronized operation, independent operation, conflict resolution) and adjust control parameters dynamically to optimize performance while managing complexity.
Data Source
AI summary
Embodiments herein are directed to a system that includes a powered wheelchair, a user-worn exoskeleton, and a master controller. The master controller monitors the independent movements of the powered wheelchair and the user-worn exoskeleton. The master controller prioritizes the movement of the powered wheelchair and the user-worn exoskeleton such that only one of the powered wheelchair or the user-worn exoskeleton will have the priority to complete the intended movement. The master controller may coordinate movements between the powered wheelchair and the user-worn exoskeleton so to perform a plurality of predetermined programs. For example, assisting a user to sit within the powered wheelchair, to assist a user to stand from a seating position when outside of the powered wheelchair, and/or use the powered wheelchair as a guide for walking.