IT202000009040A1 - Veicolo robotico. - Google Patents

Veicolo robotico. Download PDF

Info

Publication number
IT202000009040A1
IT202000009040A1 IT102020000009040A IT202000009040A IT202000009040A1 IT 202000009040 A1 IT202000009040 A1 IT 202000009040A1 IT 102020000009040 A IT102020000009040 A IT 102020000009040A IT 202000009040 A IT202000009040 A IT 202000009040A IT 202000009040 A1 IT202000009040 A1 IT 202000009040A1
Authority
IT
Italy
Prior art keywords
robotic vehicle
robotic
predefined
processor
vehicle
Prior art date
Application number
IT102020000009040A
Other languages
English (en)
Italian (it)
Inventor
Luigi Palopoli
Daniele Fontanelli
Fabiano Zenatti
Stefano Divan
Marco Andreetto
Original Assignee
Univ Degli Studi Di Trento
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 Univ Degli Studi Di Trento filed Critical Univ Degli Studi Di Trento
Priority to IT102020000009040A priority Critical patent/IT202000009040A1/it
Priority to EP21726187.4A priority patent/EP4143654A1/fr
Priority to PCT/IB2021/053213 priority patent/WO2021220103A1/fr
Publication of IT202000009040A1 publication Critical patent/IT202000009040A1/it

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5092—Optical sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Rehabilitation Tools (AREA)
  • Micro-Organisms Or Cultivation Processes Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
IT102020000009040A 2020-04-27 2020-04-27 Veicolo robotico. IT202000009040A1 (it)

Priority Applications (3)

Application Number Priority Date Filing Date Title
IT102020000009040A IT202000009040A1 (it) 2020-04-27 2020-04-27 Veicolo robotico.
EP21726187.4A EP4143654A1 (fr) 2020-04-27 2021-04-19 Véhicule robotisé
PCT/IB2021/053213 WO2021220103A1 (fr) 2020-04-27 2021-04-19 Véhicule robotisé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102020000009040A IT202000009040A1 (it) 2020-04-27 2020-04-27 Veicolo robotico.

Publications (1)

Publication Number Publication Date
IT202000009040A1 true IT202000009040A1 (it) 2021-10-27

Family

ID=71575625

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102020000009040A IT202000009040A1 (it) 2020-04-27 2020-04-27 Veicolo robotico.

Country Status (3)

Country Link
EP (1) EP4143654A1 (fr)
IT (1) IT202000009040A1 (fr)
WO (1) WO2021220103A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220397914A1 (en) * 2021-06-04 2022-12-15 Ubtech North America Research And Development Center Corp Fast continuous regulation of nonholonomic mobile robots

Non-Patent Citations (6)

* Cited by examiner, † Cited by third party
Title
ALAIN MICAELLICLAUDE SAMSON: "Trajtory tracking for unicomicrocycle-type and two-steering-wheels mobile robots", INRIA, 1993
ANDREETTO MARCO ET AL: "Path Following With Authority Sharing Between Humans and Passive Robotic Walkers Equipped With Low-Cost Actuators", IEEE ROBOTICS AND AUTOMATION LETTERS, IEEE, vol. 2, no. 4, 4 October 2017 (2017-10-04), pages 2271 - 2278, XP011657444, DOI: 10.1109/LRA.2017.2724772 *
D. SOETANTOL. LAPIERREA. PASCOAL: "IEEE Conference on Decision and Control", vol. 2, 2003, IEEE, article "Adaptive, Non-singular path-following control of dynamic wheel robots", pages: 1765 - 1770
GRAF B: "Reactive navigation of an intelligent robotic walking aid", ROBOT AND HUMAN INTERACTIVE COMMUNICATION, 2001. PROCEEDINGS. 10TH IEE E INTERNATIONAL WORKSHOP ON SEP 18-21, 2001, PISCATAWAY, NJ, USA,IEEE, 18 September 2001 (2001-09-18), pages 353 - 358, XP010576319, ISBN: 978-0-7803-7222-1 *
MARCO ANDREETTOSTEFANO DIVANDANIELE FONTANELLILUIGI PALOPOLI: "Decision and Control CDC, 2016 IEEE 55th Conferences", 2016, IEEE, article "Hybrid feedback path following for robotic walkers via bang-bang control actions", pages: 4855 - 4860
WASSON G ET AL: "User intent in a shared control framework for pedestrian mobility aids", PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. (IROS 2003). LAS VEGAS, NV, OCT. 27 - 31, 2003; [IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS], NEW YORK, NY : IEEE, US, vol. 3, 27 October 2003 (2003-10-27), pages 2962 - 2967, XP010675553, ISBN: 978-0-7803-7860-5, DOI: 10.1109/IROS.2003.1249321 *

Also Published As

Publication number Publication date
WO2021220103A1 (fr) 2021-11-04
EP4143654A1 (fr) 2023-03-08

Similar Documents

Publication Publication Date Title
EP2883525B1 (fr) Aide à marcher véhicule
US11723742B2 (en) Surgical patient side cart with drive system and method of moving a patient side cart
Colgate et al. Cobots: Robots for collaboration with human operators
JP4640445B2 (ja) 動力車
EP2699214B1 (fr) Système et procédé de direction et de commande pour fauteuils roulants manuels
WO2005066009A1 (fr) Dispositif de direction d'un vehicule
IT202000009040A1 (it) Veicolo robotico.
WO2017037898A1 (fr) Fauteuil roulant électrique et son procédé de commande
Andreetto et al. Passive robotic walker path following with bang-bang hybrid control paradigm
US10384539B2 (en) Operating handle
JP6252683B2 (ja) 手押し車
Kim et al. One-handed propulsion control of power-assisted wheelchair with advanced turning mode
JP5573993B1 (ja) 障害物回避先導ロボット
JP7013842B2 (ja) 無人搬送車の駆動操舵装置
WO2019003260A1 (fr) Fauteuil roulant à assistance motorisée, unité d'assistance motorisée pour fauteuil roulant, dispositif de commande pour fauteuil roulant à assistance motorisée, procédé de commande pour fauteuil roulant à assistance motorisée, et programme
JP2011212092A (ja) 移動ロボットおよびその制御方法
Kuramatsu et al. Force sensorless power-assist control of yaw motion direction for two wheels driven wheelchair
JP6541216B2 (ja) 車両の車線逸脱防止制御装置
Hirata et al. Steering assist system for a cycling wheelchair based on braking control
Hamatani et al. Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment
Inagaki et al. Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control
Nejatbakhsh et al. Passive omnidirectional walker-design and control
Hirata et al. Power steering and force display controls for a cycling wheelchair using servo brakes
Oh et al. Human-friendly motion control of power-assisted wheelchair
Hadj-Abdelkader et al. Powered wheelchair driving using a 3D haptic device