WO2005094480A2 - Dispositif d'assistance - Google Patents

Dispositif d'assistance Download PDF

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Publication number
WO2005094480A2
WO2005094480A2 PCT/US2005/009593 US2005009593W WO2005094480A2 WO 2005094480 A2 WO2005094480 A2 WO 2005094480A2 US 2005009593 W US2005009593 W US 2005009593W WO 2005094480 A2 WO2005094480 A2 WO 2005094480A2
Authority
WO
WIPO (PCT)
Prior art keywords
velocity
forces
power assist
user interface
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2005/009593
Other languages
English (en)
Other versions
WO2005094480A3 (fr
Inventor
Edwin V. Slate
Dana R. Yoerger
Richard J. Resch
Timothy E. Thiel
Nathan T. Ulrich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MOTIV TECHNOLOGY Inc
Original Assignee
MOTIV TECHNOLOGY Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MOTIV TECHNOLOGY Inc filed Critical MOTIV TECHNOLOGY Inc
Publication of WO2005094480A2 publication Critical patent/WO2005094480A2/fr
Anticipated expiration legal-status Critical
Publication of WO2005094480A3 publication Critical patent/WO2005094480A3/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B1/00—Hand carts having only one axis carrying one or more transport wheels; Equipment therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0073—Measuring a force

Definitions

  • This calibration would provide a relationship between applied force and displacement for each spring element 103.
  • the measured displacements of the three spring elements 103 will yield the forces at each of the attachment points for spring elements 103.
  • knowledge of forces at the three locations will allow computation of the three orthogonal force components.
  • handle 100 and handle plate 101 are illustrated in isometric view.
  • the three known forces at the vertices of the handle plate 101 are labeled as FI, F2 and F3.
  • FIG. 3B shows a side view of handle 100 and handle plate 101, and the forces FI, F2 , and F3 acting on handle plate 101.
  • orientation transducer 203 is an accelerometer-based instrument that responds to the local gravity vector, providing a pitch and roll angle relative to the vertical reference. If the accelerometer-based instrument is subject to other accelerations in addition to gravity, the accelerometers in the transducer can lead to dynamic errors in pitch and roll measurement.
  • the dynamic model 205 incorporates mass M and
  • a typical example is a loaded, two-wheeled hand truck, which exhibits unstable operation at all pitch angles other than the vertical angle and the balance point angle.
  • the control algorithm implemented by power assist controller 14 is modified to assist in the safe initiation and termination of the power assist operation of intrinsically unstable devices such as those described in the foregoing description.
  • one scenario is to prevent power assisted operation until the operator has rotated the hand truck to a comfortable operating angle, and to terminate power assisted operation when the pitch angle of the hand truck gets too close to vertical.
  • the following describes one specific supervisory control methodology that addresses this class of devices.
  • the center of gravity (CG) is 0.4 meters forward from the origin (L 3 +L 4 ) but the vertical distances (Li) of the center of gravity (CG) are 0.0 meters (low), 0.5 meters (medium) and 1.0 meters (high) .
  • the curves shown in FIG. 14 are not linear and intersect 0.0 moment (the balance point) at greatly different angles. These functions resemble straight lines about the balance point, indicated by (*) . Accordingly, the moment required to balance the hand- truck at a reasonable angle (for example 45 degrees) varies in both magnitude and sign. Referring to FIG. 15, there is shown a plot that shows experimental data for the moment, as measured at the instrumented handle as a function of pitch angle for three different loads.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un dispositif d'assistance destiné à aider un utilisateur à déplacer un véhicule à roues. Ledit dispositif d'assistance comprend une interface utilisateur configurée afin d'être saisie par l'utilisateur. L'interface utilisateur mesure des forces et un couple jusqu'à six degrés de liberté appliqués à ladite interface et convertit la force et le couple mesurés en signaux électroniques. Le dispositif d'assistance comprend un contrôleur possédant une ressource de traitement qui permet de traiter les signaux électroniques. Le contrôleur fournit au moins un signal de référence de vitesse représentant la vitesse désirée. Un servomécanisme de vitesse comprend une entrée destinée à recevoir le signal de référence de vitesse et émet un signal de rétroaction de vitesse représentant la vitesse réelle. La ressource de traitement est configurée afin de traiter les signaux électroniques émis par l'interface utilisateur et le signal de rétroaction de vitesse afin de générer un signal de vitesse.
PCT/US2005/009593 2004-03-23 2005-03-21 Dispositif d'assistance Ceased WO2005094480A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US55552404P 2004-03-23 2004-03-23
US60/555,524 2004-03-23

Publications (2)

Publication Number Publication Date
WO2005094480A2 true WO2005094480A2 (fr) 2005-10-13
WO2005094480A3 WO2005094480A3 (fr) 2007-03-15

Family

ID=35064385

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2005/009593 Ceased WO2005094480A2 (fr) 2004-03-23 2005-03-21 Dispositif d'assistance

Country Status (1)

Country Link
WO (1) WO2005094480A2 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015017456A3 (fr) * 2013-07-31 2015-05-07 Motiv Technology, Inc. Système et procédé permettant de commander une bicyclette électrique à pédales
WO2018118856A3 (fr) * 2016-12-21 2018-10-25 Segway, Inc. Véhicules porteurs de charge utile à auto-équilibrage et à assistance électrique utilisant une détection de force appliquée par l'opérateur
US20200156482A1 (en) * 2017-04-13 2020-05-21 Effortless Mobility S.R.L. Hand-pushed motorized movement device
US10858027B2 (en) 2017-06-08 2020-12-08 Segway Inc. Control of a power-assisted payload carrying vehicle using operator-applied force sensing
US10889312B2 (en) 2016-12-21 2021-01-12 Segway, Inc. Self-balancing and power-assisted payload carrying vehicles using operator-applied force sensing
CN116594436A (zh) * 2023-05-17 2023-08-15 上海钛米机器人股份有限公司 自助力推行器的动力补偿方法和电子设备

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7090040B2 (en) * 1993-02-24 2006-08-15 Deka Products Limited Partnership Motion control of a transporter
JP3524640B2 (ja) * 1995-07-31 2004-05-10 三洋電機株式会社 車いす
JP3703554B2 (ja) * 1996-02-14 2005-10-05 ヤマハ発動機株式会社 補助動力付き車椅子
JP2003517808A (ja) * 1999-08-31 2003-05-27 デルタグライド、インコーポレイテッド 動力補助車両
WO2001026599A1 (fr) * 1999-10-12 2001-04-19 Invacare Corporation Fauteuil roulant possedant un dispositif de telecommande de vitesse et de direction
EP2308437B1 (fr) * 2000-05-11 2014-07-09 Hill-Rom Services, Inc. Dispositif de traction motorisée pour support de patient
JP3975108B2 (ja) * 2002-04-10 2007-09-12 ナブテスコ株式会社 電動車両

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015017456A3 (fr) * 2013-07-31 2015-05-07 Motiv Technology, Inc. Système et procédé permettant de commander une bicyclette électrique à pédales
WO2018118856A3 (fr) * 2016-12-21 2018-10-25 Segway, Inc. Véhicules porteurs de charge utile à auto-équilibrage et à assistance électrique utilisant une détection de force appliquée par l'opérateur
US10889312B2 (en) 2016-12-21 2021-01-12 Segway, Inc. Self-balancing and power-assisted payload carrying vehicles using operator-applied force sensing
US20200156482A1 (en) * 2017-04-13 2020-05-21 Effortless Mobility S.R.L. Hand-pushed motorized movement device
US11498432B2 (en) * 2017-04-13 2022-11-15 Effortless Mobility S.R.L. Hand-pushed motorized movement device
US10858027B2 (en) 2017-06-08 2020-12-08 Segway Inc. Control of a power-assisted payload carrying vehicle using operator-applied force sensing
CN116594436A (zh) * 2023-05-17 2023-08-15 上海钛米机器人股份有限公司 自助力推行器的动力补偿方法和电子设备

Also Published As

Publication number Publication date
WO2005094480A3 (fr) 2007-03-15

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