JP2023052305A - 移動装置を制御するための方法及びデバイス - Google Patents
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- 238000000034 method Methods 0.000 title claims description 17
- 230000005021 gait Effects 0.000 claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 7
- 230000037230 mobility Effects 0.000 abstract description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7264—Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems
- A61B5/7267—Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems involving training the classification device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/12—Electrically powered or heated
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/18—Measuring a physical parameter, e.g. speed, distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/24—Processing or storing data, e.g. with electronic chip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
- B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/70—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Evolutionary Computation (AREA)
- Rehabilitation Tools (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
Description
本出願は、35 U.S.C.§119に基づいて、2017年7月8日に出願された米国仮出願第62/530,177号の利益を主張し、当該出願は、参照により本明細書の一部となる。
なし。
Claims (10)
- 各々が電気モータを備えている1対の移動装置を制御する方法であって、
第1の移動装置の少なくとも1つの慣性測定ユニットと、第2の移動装置の少なくとも1つの慣性測定ユニットとから歩容データを受け取る工程と、
前記歩容データに基づいて、前記第1の移動装置及び前記第2の移動装置の立脚/遊脚フェーズを検出する工程と、
歩容軌跡を計算する工程であって、前記歩容軌跡は速度を含んでいる、工程と、
前記第1の移動装置及び前記第2の移動装置の平均速度に基づいて、ユーザの歩容を決定して、決定された歩容を用いて動作指令を生成する工程と、
を含む方法。 - 前記歩容データは、加速度、角速度、向き、ジャイロスコープデータ、及び四元数データからなる群から選択される、請求項1に記載の方法。
- 立脚フェーズにある場合、前記歩容の歩容軌跡はゼロに設定される、請求項1に記載の方法。
- 歩容軌跡を計算する工程は、
慣性測定ユニットから提供される加速度を積分して速度を計算する工程を含む、請求項1に記載の方法。 - 前記第1の移動装置と前記第2の移動装置の間で前記動作指令を相互認証する工程を更に含む、請求項1に記載の方法。
- 前記動作指令を相互認証する工程は、
前記第1の移動装置の前記動作指令が前記第2の移動装置の前記動作指令と同様な場合、前記動作指令をモータ駆動信号に変換する工程を含む、請求項5に記載の方法。 - 前記動作指令を相互認証する工程は、
前記第1の移動装置の前記動作指令が前記第2の移動装置の前記動作指令と同様でない場合、前記動作指令をブレーキング信号に変換する工程を含む、請求項5に記載の方法。 - リモートコントローラからのユーザ入力を確認する工程と、
前記ユーザ入力に基づいて前記動作指令を取り消す工程と、
を含む、請求項1に記載の方法。 - 前記歩容軌跡に基づくユーザの歩容の決定は、前記歩容軌跡を速度範囲と比較する工程を含む、請求項1に記載の方法。
- 前記歩容軌跡は、歩幅、向き、及び高さからなる群から選択された少なくとも1つのパラメータを更に含む、請求項1に記載の方法。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762530177P | 2017-07-08 | 2017-07-08 | |
US62/530,177 | 2017-07-08 | ||
JP2020521859A JP7214243B2 (ja) | 2017-07-08 | 2018-07-09 | 移動装置を制御するための方法及びデバイス |
PCT/US2018/041345 WO2019014154A1 (en) | 2017-07-08 | 2018-07-09 | METHOD AND DEVICE FOR CONTROLLING A DISPLACEMENT ASSISTING DEVICE |
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JP2020521859A Division JP7214243B2 (ja) | 2017-07-08 | 2018-07-09 | 移動装置を制御するための方法及びデバイス |
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JP2023002135A Pending JP2023052305A (ja) | 2017-07-08 | 2023-01-11 | 移動装置を制御するための方法及びデバイス |
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US (3) | US11364431B2 (ja) |
EP (1) | EP3629925A4 (ja) |
JP (2) | JP7214243B2 (ja) |
CN (2) | CN110868926A (ja) |
WO (2) | WO2019014154A1 (ja) |
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CN106582003B (zh) | 2016-11-01 | 2019-11-05 | 爱柯迪股份有限公司 | 一种电动动力鞋的调节机构 |
CN106390428B (zh) | 2016-11-01 | 2019-03-05 | 爱柯迪股份有限公司 | 一种仿生电动动力鞋 |
CN106390430B (zh) | 2016-11-01 | 2019-03-05 | 爱柯迪股份有限公司 | 一种动力鞋装置的防倒转装置 |
CN110868926A (zh) | 2017-07-08 | 2020-03-06 | 筋斗云机器人技术有限公司 | 用于控制行动装置的方法和装置 |
KR102614779B1 (ko) * | 2018-09-14 | 2023-12-15 | 삼성전자주식회사 | 보행 보조 방법 및 장치 |
US12042717B2 (en) | 2019-01-09 | 2024-07-23 | Shift Robotics, Inc. | Method and device for control of a mobility device using an estimated gait trajectory |
GB201904018D0 (en) | 2019-03-23 | 2019-05-08 | Hoffman Shalom | Motorized platforms for walking |
CN110710976A (zh) * | 2019-10-14 | 2020-01-21 | 深圳市迈步机器人科技有限公司 | 个性化步态生成方法存储介质、控制系统及外骨骼机器人 |
CN112741617A (zh) * | 2019-10-30 | 2021-05-04 | 成都易书桥科技有限公司 | 一种基于csi的全方向步态检测算法 |
GB2589855A (en) * | 2019-12-09 | 2021-06-16 | Slipstream Board Ltd | Electric skateboard and associated gaming apparatus, system and method |
US20220028546A1 (en) * | 2020-07-24 | 2022-01-27 | International Business Machines Corporation | Assessing the gait of parkinson's patients |
JP2023547901A (ja) | 2020-10-21 | 2023-11-14 | シフト ロボティクス、インク. | 並進回転統合型ヒンジ機構およびギア・ブッシング一体型アセンブリを備えた電動靴装置の車輪構成 |
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