Wheelchair Torque Compensation for Fine Manual Control
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Solution Overview
Problem
Power wheelchairs lack fine motion control, making it difficult for users to position themselves accurately, such as perpendicular to a dining table, and require significant force to overcome wheel torque, which can be frustrating and physically demanding.
Innovation Solution
A wheelchair system with actuators, sensors, and a processing device that determines wheel torque and applies a compensation value to reduce the torque, allowing for easier manual positioning by reducing the external force required to move the wheelchair.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If motor control is used to move the power wheelchair, then the wheelchair can move autonomously, but fine motion control for precise positioning is insufficient
Solution Approach 1:
The patent replaces the motorized control system with a mechanical assistance system. The actuator applies torque to the wheels to counteract friction and gravitational forces, allowing the user to manually move the wheelchair with fine control. This substitution enables precise positioning by eliminating the minimum movement increment limitation of motor control.
Solution Approach 2:
The system dynamically changes the torque parameter applied by the actuator based on the wheelchair's operating conditions (weight, surface inclination). By adjusting the compensation torque in real-time, the system maintains optimal ease of operation across varying conditions while enabling fine motion control.
2Power
If the power wheelchair is designed with heavy components for motorized operation, then it has sufficient torque to move, but significant force is required to manually push or pull it
Solution Approach 1:
The actuator functions as a counterbalance system that applies torque to offset the weight and friction of the wheelchair. This counteracting force reduces the external force the user must exert to move the wheelchair, making manual positioning feasible despite the wheelchair's heavy components designed for motorized operation.
Solution Approach 2:
The actuator serves as an intermediary between the wheelchair's heavy components and the user. It mediates the interaction by providing torque compensation that reduces the force transmission from the user to the wheelchair, enabling easy manual movement without compromising the structural integrity and power needed for motorized operation.
3Manufacturing precision
If multiple attempts are made to position the wheelchair precisely, then the desired position can be achieved, but user frustration increases and time is lost
Solution Approach 1:
The actuator applies torque compensation in advance to counteract the forces that would otherwise require multiple adjustment attempts. By pre-compensating for friction and gravitational effects, the system enables the user to achieve precise positioning in a single action, eliminating the time loss and frustration associated with repeated attempts.
Data Source
AI summary
Systems and methods of wheelchair systems enabling fine manual motion control are disclosed. In one embodiment, a wheelchair system includes a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine a wheel torque on the one or more wheels, determine a compensation value, and actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.