WO2015085403A1

WO2015085403A1 - Systems and methods for assisted motion inhibition

Info

Publication number: WO2015085403A1
Application number: PCT/CA2014/000882
Authority: WO
Inventors: Wilfrid NGO; Parth DAVE; Ray ZHOU
Original assignee: Human Care Canada Inc.
Priority date: 2013-12-12
Filing date: 2014-12-12
Publication date: 2015-06-18

Abstract

A system for assistive motion inhibition for use with a mobility aiding device having one or more movable components for permitting motion of the mobility aiding device, the system including a control module configured to receive sensed information related to the operation of the mobility aiding device; and based at least on the sensed information, estimate an operational state of the mobility aiding device; and based at least on the operational state and the sensed information, apply one or more logical rules that are set to trigger the automatic engagement of one or more motion inhibitors associated with the one or more movable components for permitting motion on the mobility aiding device when one or more conditions are met.

Description

SYSTEMS AND METHODS FOR ASSISTED MOTION INHIBITION

FIELD

[0001 ] The improvements generally relate to the field of control systems for use with mobility aiding devices. BACKGROUND

[0002] Mobility aiding devices may be helpful to users, such as seniors and the disabled.

[0003] Unfortunately, due to limited safety features, these mobility aiding devices may be a source of accidents.

[0004] For example, walker related falls amounted to approximately $1.3B in North American healthcare spending in 2012. These accidents can result in broken bones and injuries that can limit a senior's mobility.

[0005] Even if a full recovery occurs, the fear of falling again can be enough to keep a senior from further using a walker.

[0006] If a senior is confined to a wheelchair or bedridden, the loss of independence and exercise results in health deterioration.

[0007] The limited control over movement of mobility aiding devices may be a deficiency associated with conventional mobility aiding devices, and alternative devices may be needed.

SUMMARY

[0008] In accordance with one aspect, a system for assistive motion inhibition for use with a mobility aiding device having one or more movable components for permitting motion of the mobility aiding device, the system including: a control module configured to: receive sensed information related to the operation of the mobility aiding device; and based at least on the sensed information, estimate an operational state of the mobility aiding device; and based at least on the operational state and the sensed information, apply one or more logical rules that are set to trigger the automatic engagement of one or more motion inhibitors associated with the one or more movable components for permitting motion on the mobility aiding device when one or more conditions are met.

[0009] In accordance with another aspect, a method for assistive motion inhibition for use with a mobility aiding device having one or more movable components for permitting motion of the mobility aiding device, the method including receiving sensed information related to the operation of the mobility aiding device; estimating an operational state of the mobility aiding device based at least on the sensed information; and applying one or more logical rules to automatically engage the actuation of one or more motion inhibiting devices associated with one or more movable components for permitting motion on the mobility aiding device based at least on the estimated operational state and the sensed information.

[0010] In accordance with another aspect, a mobility aiding device having one or more movable components for permitting motion, the mobility aiding device comprising: a frame; one or more movable components for permitting motion coupled to the frame; one or more brackets for interfacing with a movable component for permitting motion of the mobility aiding device coupled to at least one of the one or more movable components for permitting motion, the one or more brackets comprising: a motion inhibiting device; an actuator coupled to the motion inhibiting device and configured to actuate the motion inhibiting device to apply a motion inhibiting force to a movable component for permitting motion of the mobility aiding device; a sensor coupled to the movable component for permitting motion of the mobility aiding device to sense information including at least acceleration, speed and position; a control module configured to: receive sensed information related to the operation of the mobility aiding device; and based at least on the sensed information, estimate an operational state of the mobility aiding device; and based at least on the operational state and the sensed information, apply one or more logical rules that are set to trigger the automatic engagement the actuation of one or more motion inhibiting devices associated with one or more movable components for permitting motion on the mobility aiding device when one or more conditions are met; wherein the control module is configured to implement one or more control loops to maintain speed at a desired set point; and wherein the one or more control loops includes a feedback loop having a setpoint, a process variable and a manipulated variable, and wherein the setpoint is set at the desired speed depending on the estimated state of operation, the process variable is the speed at which the mobility aiding device is moving, and the manipulated variable is the angle of actuation of an actuator whose output is proportional to a motion inhibiting force applied to the movable component for permitting motion of the mobility aiding device by a motion inhibiting device. [0011] Many further features and combinations thereof concerning embodiments described herein will appear to those skilled in the art following a reading of the instant disclosure.

DESCRIPTION OF THE FIGURES

[0012] In the drawings, embodiments of the invention are illustrated by way of example. It is to be expressly understood that the description and drawings are only for the purpose of illustration and as an aid to understanding, and are not intended as a definition of the limits of the invention.

[0013] In the figures, Figure 1A shows a perspective view of a bracket, according to some embodiments. [0014] Figure 1B is an exploded view of the bracket of Figure 1A, according to some embodiments.

[0015] Figure 1C is a perspective view of a mobility aiding device having two brackets associated with two of the wheels on the mobility aiding device and a control module, according to some embodiments. [0016] Figure 2A is a front view of a control module implemented on a printed circuit board, according to some embodiments.

[0017] Figure 2B is a rear view of a control module implemented on a printed circuit board, according to some embodiments.

[0018] Figure 2C is a schematic diagram of control module, exemplary of an embodiment. [0019] Figure 3 is a perspective view of a seat engagement sensor configured to detect whether a user is sitting on a seat of the mobility aiding device, according to some embodiments.

[0020] Figure 4 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when motion inhibition devices should be applied, according to some embodiments.

[0021] Figure 5 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when motion inhibition devices should be applied, according to some embodiments. [0022] Figure 6 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when motion inhibition devices should be applied, according to some embodiments.

[0023] Figure 7 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when motion inhibition devices should be applied, according to some embodiments.

[0024] Figure 8 is a sample block schematic diagram of a speed controller that may be used as part of the control logic of the control module, according to some embodiments.

DETAILED DESCRIPTION

[0025] In some embodiments, a system may be provided comprising one or more brackets for interfacing with one or more movable components for permitting motion of a mobility aiding device, and a control module may be configured to control the application of motion inhibiting forces on the one or more movable components for permitting motion of the mobility aiding device.

[0026] Motion inhibiting devices may include elements such as brakes (e.g., disc brakes, drum brakes, electronic brakes, friction brakes, kinetic energy brakes, magnetic brakes). [0027] The movable components for permitting motion of a mobility aiding device may, for example, be rollers, wheels, treads, etc.

[0028] The one or more brackets may have various sensory components, and may be configured to communicate with the control module. In some embodiments, the one or more brackets include motion inhibiting components such as brakes, which can be actuated based on communications received from the control module. The actuation of the motion inhibiting components may impart a varying level of motion inhibiting force on the movable components for permitting motion of the mobility aiding device, for example, a braking force applied to the wheels of a motion aiding device may be proportional to angle of actuation of a servomotor.

[0029] In some embodiments, the system may include a sensor configured to sense whether a user is engaging a seat on the mobility aiding device.

[0030] In some embodiments, the system may be provided having a control module that may be provided sensory inputs and may output instructions related to motion inhibition. [0031] The system may be configured such that sensory inputs are provided into a control module, and the control module then selectively actuates the brakes associated with one or more wheels of a mobility aiding device.

[0032] The control module may be configured to control the behavior of the motion inhibiting devices based on the detection of various states of operation of the mobility aiding device, such as:

■ the mobility aiding device accelerating beyond normal acceleration and/or a normal velocity;

■ when a user is mounting a seat associated with the mobility aiding device;

■ when a user is dismounting a seat associated with the mobility aiding device; when a user has engaged the brakes on the mobility aiding device; ^■ when a user has disengaged the brakes on the mobility aiding device;

^■ when the mobility aiding device is travelling uphill;

^■ when the mobility aiding device is travelling downhill; and

^■ when the mobility aiding device is travelling on flat terrain. [0033] In relation to the states of operation, various control techniques may be utilized to maintain the speed of the mobility aiding device based on a particular setpoint appropriate for the state of operation of the mobility aiding device. For example, a control feedback loop may be utilized to provide for a slower speed to be maintained when the system estimates that a mobility aiding device is travelling downhill based on sensed information. Where the speed exceeds the threshold speed, the system may selectively and automatically actuate the brakes to impart a particular level of braking force to help maintain the speed.

[0034] In some embodiments, maintaining the speed may include selectively inhibiting the motion of the mobility aiding device if the speed is above a particular threshold. There may be no actions taken (e.g., activation of a brake) if the speed is below the threshold. [0035] A potential benefit to using a control system to control the speed of the mobility aiding device may be the prevention of a mobility aiding device causing the user to move at an unintended speed or the mobility aiding device slipping away from the grasp of a user.

[0036] The system may be provided as a standalone unit, a unit for retrofitting on to existing mobility aiding devices and/or a kit to be provided along with a mobility aiding device. In some embodiments, a mobility aiding device may be contemplated where the system is integrated within the components of the mobility aiding device. For example, the system may be integrated into the mobility aiding device and the mobility device may be sold with an in-built brake control system.

[0037] Potential benefits of utilizing the system in conjunction with a mobility aiding device is the possible prevention and/or reduction of injuries related with the use of mobility aiding devices. For example, a mobility aiding device may slip out of the grasp of a user, causing the user to fall. This problem may be more apparent where a user is using a mobility aiding device for sitting, travelling uphill or travelling downhill. Other types of conditions may be contemplated.

[0038] Mobility aiding devices may include walkers, wheelchairs, scooters, gait trainers, among others. [0039] The automatic engagement of motion inhibiting components based on sensory information related to the state of the mobility aiding device may help mitigate and/or prevent some of these problems.

[0040] Sensory information may be from various sources, such as accelerometers, rotary encoders, hall effect sensors, weight sensors, infrared sensors, pressure sensors, proximity sensors, etc. In some embodiments, the system may include one or more sensors that can be adapted on to a mobility aiding device.

[0041] In other embodiments, the system may be provided information from sensors external to the system, such as sensors located on the mobile device of a user (e.g., the user's smartphone detects the speed of the user) or sensors that are located and/or built into the mobility aiding device).

[0042] In this specification, some embodiments may be provided where brakes are used for motion inhibition of wheels of a mobility aiding device, and it should be understood that brakes may be substituted with suitable motion inhibiting mechanisms and wheels may be substituted for suitable movable components for moving the mobility aiding device. [0043] Figure 1A shows a perspective view of a bracket 100, according to some embodiments. There may be one or more brackets 100 associated with a mobility aiding device, the brackets being configured for interoperability with one or more wheels of the mobility aiding device.

[0044] Figure 1 B is an exploded view of the bracket 100 of Figure 1A, according to some embodiments. [0045] Figure 1C is a perspective view of a mobility aiding device having two brackets 100 associated with two of the wheels on the mobility aiding device and a control module 200, according to some embodiments.

[0046] The bracket 100 may be comprised of one or more sensors 102, and may be further comprised of one or more servomotors 104 and one or more brake calipers 106.

[0047] The bracket 100 may also be configured for actuation by the control module 200. In some embodiments, the bracket 100 may be configured for communication of data with the control module 200. Communication may be two way; communication of sensory information may be provided to the control module 200, and the control module 200 may provide instructions in regards to the actuation of motion inhibiting components.

[0048] The one or more sensors 102 may be configured to sense the speed, angle, and/or direction of the wheel. For example, the one or more sensors 102 may be a rotary encoder. Other types of sensors 102 may be contemplated for use. For example, sensors may include proximity sensors, electromagnetic sensors, accelerometers, gyroscopes, electromagnetic sensors, Hall Effect sensors, infrared sensors, etc.

[0049] The one or more servomotors 104 may be configured such that as the servomotor 104 actuates, the brake caliper 106 is engaged to apply a braking force to a wheel. For example, the servomotor 104 may be configured to pull a cable which in turn tightens the brake caliper 106. For example, a braking force may be applied to the wheel that is proportional to the angle of actuation of the servomotor 104.

[0050] In some embodiments, the one or more servomotors 104 may be substituted by suitable type of actuator. For example, a pneumatic actuator, a pneumatic actuator, an electric actuator, a thermal actuator, and/or a mechanical actuator may be used instead. An actuator may also use various combinations of the technologies. [0051] In some embodiments, the brake caliper 106 may be a disc brake caliper. A brake caliper may be an example of a motion inhibiting device; for example, a drum brake, an electronic brake, a magnetic brake could also be used. [0052] The bracket 100 of Figure 1 B may be provided as an example of an embodiment. In this embodiment, component 1 may be the outer support, component 2 may be the inner support, component 3 may be a wheel of the mobility aiding device, component 4 may be the brake caliper, component 5 may be the disc, component 6 may be a disc mount for mounting an electromechanical assembly, component 7 may be another disc mount, component 8 may be a servomotor (e.g., a HiTec Servo (HS-475NB)), component 9 may be a rotary encoder (e.g., a 12 mm incremental encoder - BOURNS PEC1 1 S), component 10 is a servomotor horn, component 11 may be a pinion (e.g., a 1 : 1 gear), component 12 may be a socket head cap screw (e.g., M6x1.0x20mm Black Oxide), component 13 is a hex nut (e.g., M6 10x5 steel zinc), component 14 may be a socket head cap screw (e.g., M8x1.25x1 10), and component 15 may be a hex nut (M8x1.25 DIA 13x6.5 steel zinc fin).

[0053] Figure 2A is a front view of a control module 200 implemented on a printed circuit board, according to some embodiments.

[0054] Figure 2B is a rear view of a control module 200 implemented on a printed circuit board, according to some embodiments.

[0055] The placement of the components and the components themselves are provided as examples. Various embodiments may have more, less, different and/or alternate components that may be positioned in various positions.

[0056] The control module 200 may be configured for communication with one or more sensors and for the controlling of the actuation of the brake calipers 106 based on control logic.

[0057] The control module 200 may be configured to implement one or more logical states of operation, which may also include the implementation of one or more control loops. The control module 200 may be configured to utilize sensory information to estimate which of the logical states of operation is currently being experienced by the mobility aiding device.

[0058] There may be logical states of operation provided, for example, when the mobility aiding device accelerates beyond a particular threshold acceleration or velocity, when a user is sitting or about to sit on a seat of the mobility aiding device, when the mobility aiding device is travelling uphill, when the mobility device is travelling on flat terrain, when the mobility device is travelling downhill, and when the mobility aiding device is experiencing undesired acceleration (e.g., the mobility aiding device may have rolled away from the user).

[0059] One or more control loops may be implemented to limit and/or maintain the speed of travel of the mobility aiding device. For example, one or more brakes could be selectively actuated with a particular braking force to slow down and/or stop the mobility aiding device.

[0060] In some embodiments, a feedback loop may be implemented wherein the process variable may be the speed of the mobility aiding device (e.g., as determined by a rotary encoder), the manipulated variable may be the angle of actuation of the servomotor 104 (which may be proportional to the braking force applied to the wheel by the brake caliper 106).

[0061 ] The control module 200 may be comprised of a power regulation subsystem 202 configured to regulate and filter power input, a processor 204 which may be configured to execute instructions, an accelerometer 206 which may be configured to determine sensory information, such as the tilt angle of the mobility aiding device, a clock 208 which may be configured to provide the current date and/or time, and a non-transitory computer-readable media 210 upon which data may be logged and/or accessed.

[0062] The power regulations subsystem 202 may be configured to receive power inputs from various sources, such as batteries, solar power, etc. In some embodiments, the power regulations subsystem 202 may also be configured to selectively turn on and off various components, such as the one or more servomotors 104 to reduce power consumption.

[0063] The processor 204 may be configured to execute various computer-readable instructions, such as control logic related to the selective actuation of brakes when various operating parameters are sensed and communicated to the control module 200. The processor 204 may be implemented using various different technologies, such as a microprocessor, a field-programmable gate array (FPGA), various types and topologies of integrated circuits, an Intel™ based chip, an application-specific integrated circuit (ASIC), a processor using reduced instruction set computing (RISC) architecture, etc. [0064] The computer-readable instructions may be stored on a non-transitory computer readable media, such as a rules database. The specific instructions may be generated, applied, defined, updated and/or otherwise interacted with in a rules engine. The rules may include one or more conditions, and/or one or more triggers. For example, if a rule may trigger the imposition of a control feedback loop to maintain a particular speed upon detecting that the mobility aiding device is travelling uphill due to a sensed accelerometer tilt of greater than 2 degrees.

[0065] These rules may also provide for the transition between various operational states based on sensory information. For example, the rules may provide for a transition between a normal and an uphill travel state depending on the particular angle of travel of the mobility aiding device.

[0066] In some embodiments, the processor 204 may be configured to operate as a finite state machine.

[0067] In some embodiments, the computer-readable instructions may not be modifiable and may represent hard-coded components of the control module 200. For example, readonly memory may be utilized to provide such functionality to the control module 200.

[0068] In some embodiments, the processor 204 may be configured such that the computer-readable instructions may be modified by a user. For example, thresholds may be modified, rules associated with states, etc. [0069] Sensed information and/or actuations of the motion inhibiting components initiated by the control module 200 may be recorded and/or logged on non-transitory computer- readable media 210. The clock 208 may be utilized to provide a timestamp to the information. The non-transitory computer-readable media 210 may, for example, be a microSD™ card. [0070] The processor 204 may be configured for receiving sensory information provided from one or more sensors, and the processor 204 may be further configured to estimate and/or determine the state of operation of the mobility aiding device. [0071 ] In some embodiments, the control module 200 may further be configured for communication with a third party system. Communication with the third party system may be conducted for various purposes, such as transmission of logged information sensed from the mobility aiding device, updating of instruction sets being executed by the processor 204, etc. Communication may be conducted through various suitable media, such as through various combinations of wired and wireless communication technologies (e.g., Bluetooth™, 802.1 1 wifi, wired interfaces, USB interfaces, FireWire interfaces).

[0072] For simplicity, only one control module 200 is shown but system may include more control modules 200 operable to conduct various functions. The control modules 200 may be the same or different types of devices. The control module 200 may comprise at least one processor, a data storage device (including volatile memory or non-volatile memory or other data storage elements or a combination thereof), and at least one communication interface. The computing device components may be connected in various ways including directly coupled, indirectly coupled via a network, etc. [0073] For example, and without limitation, the control module 200 may be a printed circuit board, integrated circuit, a field programmable gate array, server, network appliance, set-top box, embedded device, computer expansion module, personal computer, laptop, personal data assistant, cellular telephone, smartphone device, UMPC tablets, video display terminal, gaming console, electronic reading device, and wireless hypermedia device or any other computing device capable of being configured to carry out the methods described herein.

[0074] Figure 2C is a schematic diagram of control module 200, exemplary of an embodiment.

[0075] As depicted, control module 200 includes at least one processor 2002, memory 2004 and at least one I/O interface 2006. In some embodiments, control module 200 also includes at least one network interface 2008.

[0076] Each processor 2002 may be, for example, any type of general-purpose microprocessor or microcontroller, a digital signal processing (DSP) processor, an integrated circuit, a field programmable gate array (FPGA), a reconfigurable processor, a programmable read-only memory (PROM), or any combination thereof.

[0077] Memory 2004 may include a suitable combination of any type of computer memory that is located either internally or externally such as, for example, random-access memory (RAM), read-only memory (ROM), compact disc read-only memory (CDROM), electro-optical memory, magneto-optical memory, erasable programmable read-only memory (EPROM), and electrically-erasable programmable read-only memory (EEPROM), Ferroelectric RAM (FRAM) or the like.

[0078] Each I/O interface 2006 enables control module 200 to interconnect with one or more input devices, such as a keyboard, mouse, camera, touch screen and a microphone, or with one or more output devices such as a display screen and a speaker.

[0079] Each network interface 2008 enables control module 200 to communicate with other components, to exchange data with other components, to access and connect to network resources, to serve applications, and perform other computing applications by connecting to a network (or multiple networks) capable of carrying data including the Internet, Ethernet, plain old telephone service (POTS) line, public switch telephone network (PSTN), integrated services digital network (ISDN), digital subscriber line (DSL), coaxial cable, fiber optics, satellite, mobile, wireless (e.g. Wi-Fi, WiMAX), SS7 signaling network, fixed line, local area network, wide area network, and others, including any combination of these.

[0080] Figure 3 is a perspective view of a seat engagement sensor 300 configured to detect whether a user is sitting on a seat of the mobility aiding device, according to some embodiments.

[0081] The seat engagement sensor 300 may be configured to communicate with the control module 200, communicating sensory information related to whether a user is sitting on a seat of the mobility aiding device. [0082] In some embodiments, the seat engagement sensor 300 may be a force sensitive resistor allowing a weight detection through voltage division. Other types and configurations of sensors may be contemplated.

[0083] In some embodiments, the seat engagement sensor 300 may be an infrared sensor positioned such that the line-of-sight of the infrared sensor may be broken during the process of a user mounting the seat for sitting.

[0084] The control module 200 may be configured to receive the sensory input and to accordingly engage the brakes. A potential benefit to such embodiments may be the preemptive engagement of brakes before a user takes a seat so that the mobility aiding device is stabilized as the user is mounting the seat.

[0085] Figure 4 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when brakes should be applied, according to some embodiments.

[0086] Other logic may be implemented, and the flowchart provides an example embodiment associated with sensed information from the seat sensor.

[0087] Specific actions and times are provided as examples, and other times and actions may be suitable.

[0088] In this example, when a large acceleration is detected (determined, for example, by the second finite difference method with respect to time of the encoder input), the brakes may be applied for half a second as this condition presents a possible fall danger.

[0089] When the user sits on the seat, the brakes may be applied (e.g., by activating the servomotor 104 to actuate a brake caliper 106) and the servomotor 104 power may be turned off (in order to reduce battery consumption).

[0090] Once the user stands up, the servomotor 104 power may be returned and the brakes are applied until the user pushes a button to disable the brakes, thus allowing the user to use the mobility aiding device as a stationary support when standing up. [0091] In the case of normal operation, the code then proceeds to the current state (where there are states for the walker tilted upwards, tilted downwards, and on flat ground).

[0092] Figure 5 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when motion inhibition devices should be applied, according to some embodiments.

[0093] In the case of normal operation, the code then proceeds to the current state (where there are states for the mobility aiding device tilted upwards, tilted downwards, and on flat ground).

[0094] In the normal state, if the angle of the walker exceeds 2 degrees, there is a transition to the uphill state.

[0095] Similarly, if the angle decreases below -2 degrees, the state transitions to the downhill state.

[0096] When on flat ground, the code enters a speed control loop where the desired speed is approximately average human walking speed (brakes are variably applied based on the actual speed and time derivative of the actual speed).

INCORPORATED BY REFERENCE (RULE 20.6) [0097] Figure 6 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when brakes should be applied, according to some embodiments. The flowchart of Figure 6 is associated with an "uphill" operation of the mobility aiding device. [0098] In the uphill state, when the accelerometer detects an angle less than a threshold angle (e.g., a predefined threshold of 2 degrees), there may be a state transition to the "normal state". If the angle is equal to or above a threshold angle (e.g., a predefined threshold of 2 degrees), the software may enter a speed control loop with a "normal" setpoint (if the mobility aiding device is moving forward), and a "slow" setpoint if the mobility aiding device is moving backwards.

[0099] Figure 7 is an example flowchart providing motion inhibition logic that may be utilized, depicting conditions that may determine when brakes should be applied, according to some embodiments. The flowchart of Figure 7 is associated with a "downhill" operation of the mobility aiding device. [00100] In the "downhill state", when the accelerometer detects an angle greater than a threshold angle (e.g., a predetermined threshold of -2 degrees), there may be a state transition to the "normal state". If the angle is equal to or below a threshold angle, (e.g., a predetermined threshold of -2 degrees), the control module 200 enters a speed control loop with a "slow" setpoint (if the mobility aiding device is moving forward), and a "normal" setpoint if the mobility aiding device is moving backwards.

[00101] Figure 8 is a sample block schematic diagram of a speed controller that may be used as part of the control logic of the control module 200, according to some embodiments.

[00102] Speed control may be conducted using a various control systems, methods and algorithms, such as proportional controllers, proportional-derivative controllers, proportional-integral-derivative controllers, and/or other types of control loop feedback mechanisms. [00103] In some embodiments, speed control is achieved through a closed loop Proportional-Derivative (PD) controller. Motion inhibition output (e.g., the brake servomotor angle) may be determined through the addition of the product of a proportional constant Kp and the current error (the setpoint may be the speed reported by the encoder, or a predefined desired speed), and the product of a derivative constant Kd and the time derivative of this error. The sensed speed may be the process variable in the control loop.

[00104] In experimental testing, it was found that the Kp and Kd values that gave the "smoothest" experience to users was approximately 3 and approximately 2.5, respectively.

[00105] In some embodiments, the control constants related to the speed control closed loop may be adjusted and/or refined over time by a user and/or an administrator.

[00106] In some embodiments, the control constants related to the speed control closed loop may be adjusted and/or refined over time automatically by the control module 200 based on analysis of historical data and/or the application of one or more machine learning algorithms. [00107] The speed control may be used as a loop, for example, in relation to the various states of operation set out by the control module 200, to control the speed at which the mobility aiding device moves at through the automatic application of the motion inhibition mechanisms of the mobility aiding device, at various levels of motion inhibition and for various durations. [00108] The particular set point may be varied, and a value of 2-3 km/hr was tested as a pace that users were comfortable with.

[00109] In some embodiments, the speed and/or set point may be adjusted to match specific patient's needs, as some users walk much faster than others.

[001 10] The embodiments of the devices, systems and methods described herein may be implemented in a combination of both hardware and software. These embodiments may be implemented on programmable computers, each computer including at least one processor, a data storage system (including volatile memory or non-volatile memory or other data storage elements or a combination thereof), and at least one communication interface.

[001 1 1 ] Program code may be applied to input data to perform the functions described herein and to generate output information. The output information may be applied to one or more output devices. In some embodiments, the communication interface may be a network communication interface. In embodiments in which elements may be combined, the communication interface may be a software communication interface, such as those for inter-process communication. In still other embodiments, there may be a combination of communication interfaces implemented as hardware, software, and combination thereof. [001 12] Throughout the foregoing discussion, numerous references will be made regarding servers, services, interfaces, portals, platforms, or other systems formed from computing devices. It should be appreciated that the use of such terms is deemed to represent one or more computing devices having at least one processor configured to execute software instructions stored on a computer readable tangible, non-transitory medium. For example, a server can include one or more computers operating as a web server, database server, or other type of computer server in a manner to fulfill described roles, responsibilities, or functions.

[001 13] One should appreciate that the systems and methods described herein may decrease the incidence of user falls, decrease the incidence of "runaway" mobility aiding devices, increase user confidence in their mobility aiding devices, aid in the mounting / dismounting of seats on mobility aiding devices, help provide for safe traversals of uphill and/or downhill terrain, etc.

[001 14] The following discussion provides many example embodiments. Although each embodiment represents a single combination of inventive elements, other examples may include all possible combinations of the disclosed elements. Thus if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, other remaining combinations of A, B, C, or D, may also be used. [001 15] The term "connected" or "coupled to" may include both direct coupling (in which two elements that are coupled to each other contact each other) and indirect coupling (in which at least one additional element is located between the two elements).

[00116] The technical solution of embodiments may be in the form of a software product. The software product may be stored in a non-volatile or non-transitory storage medium, which can be a compact disk read-only memory (CD-ROM), a USB flash disk, or a removable hard disk. The software product includes a number of instructions that enable a computer device (personal computer, server, or network device) to execute the methods provided by the embodiments. [001 17] The embodiments described herein are implemented by physical computer hardware, including computing devices, servers, receivers, transmitters, processors, memory, displays, and networks. The embodiments described herein provide useful physical machines and particularly configured computer hardware arrangements. The embodiments described herein are directed to electronic machines and methods implemented by electronic machines adapted for processing and transforming electromagnetic signals which represent various types of information. The embodiments described herein pervasively and integrally relate to machines, and their uses; and the embodiments described herein have no meaning or practical applicability outside their use with computer hardware, machines, and various hardware components. Substituting the physical hardware particularly configured to implement various acts for non-physical hardware, using mental steps for example, may substantially affect the way the embodiments work. Such computer hardware limitations are clearly essential elements of the embodiments described herein, and they cannot be omitted or substituted for mental means without having a material effect on the operation and structure of the embodiments described herein. The computer hardware is essential to implement the various embodiments described herein and is not merely used to perform steps expeditiously and in an efficient manner.

[00118] Although the embodiments have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope as defined by the appended claims. [001 19] Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, manufacture, compositions of matter, means, methods, or steps, presently existing or later to be developed, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps. [00120] As can be understood, the examples described above and illustrated are intended to be exemplary only. For instance, the system may be implemented in various ways using various technologies, sensory inputs and/or control techniques. The scope is indicated by the appended claims.

Claims

WHAT IS CLAIMED IS:

1. A system for assistive motion inhibition for use with a mobility aiding device having one or more movable components for permitting motion of the mobility aiding device, the system comprising: a control module configured to: receive sensed information related to the operation of the mobility aiding device; and based at least on the sensed information, estimate an operational state of the mobility aiding device; and based at least on the operational state and the sensed information, apply one or more logical rules that are set to trigger the automatic engagement of one or more motion inhibiting devices associated with the one or more movable components for permitting motion on the mobility aiding device when one or more conditions are met.

2. The system of claim 1 , further comprising one or more brackets for interfacing with a movable component for permitting motion of the mobility aiding device, the one or more brackets comprising: a motion inhibiting device; an actuator coupled to the motion inhibiting device and configured to actuate the motion inhibiting devices to apply a motion inhibiting force to the movable component for permitting motion of the mobility aiding device.

3. The system of claim 2, wherein the motion inhibiting force applied to the movable component for permitting motion of the mobility aiding device is proportional to the angle of actuation of the actuator.

4. The system of claim 1 , further comprising one or more sensors for sensing information related to the operation of the mobility aiding device.

5. The system of claim 4, wherein the sensors include at least one of an accelerometer, a gyroscope, a weight sensor, a rotary encoder, a proximity sensor and an infrared sensor.

6. The system of claim 1 , wherein the operational states include at least one of unintentional acceleration, normal operation, uphill operation, downhill operation, sitting, and pre-emptive sitting.

7. The system of claim 1 , wherein the control module is configured to implement one or more control loops to maintain speed of the mobility aiding device at a desired set point.

8. The system of claim 7, wherein the one or more control loops includes a proportional-derivative feedback loop having a setpoint, a process variable and a manipulated variable, and wherein the setpoint is set at the desired speed depending on the estimated state of operation, the process variable is the speed at which the mobility aiding device is moving, and the manipulated variable is the angle of actuation of an actuator whose output is proportional to a motion inhibiting force applied to the movable components for permitting motion of the mobility aiding device by a motion inhibiting device.

9. The system of claim 8, wherein control constants of the proportional-derivative feedback loop have a value of Kp being approximately 3 and a value of Kd being approximately 2.5.

10. A method for assistive motion inhibition for use with a mobility aiding device having one or more movable components for permitting motion of the mobility aiding device, the method comprising: receiving sensed information related to the operation of the mobility aiding device; estimating an operational state of the mobility aiding device based at least on the sensed information; and applying one or more logical rules to automatically engage the actuation of one or more motion inhibiting devices associated with one or more movable components for permitting motion on the mobility aiding device based at least on the estimated operational state and the sensed information.

11. The method of claim 10, wherein an unintentional acceleration state is estimated where the sensed information indicates an acceleration greater than a predefined threshold.

12. The method of claim 10, wherein a pre-emptive sitting state is estimated where the sensed information indicates that a user is sitting on or about to sit on a seat of the mobility aiding device.

13. The method of claim 10, wherein an uphill travel state is estimated where the sensed information indicates that a tilt angle of the mobility aiding device is above a predefined threshold.

14. The method of claim 10, wherein a downhill travel state is estimated where the sensed information indicates that a tilt angle of the mobility aiding device is below a predefined threshold.

15. The method of claim 10, wherein a normal travel state is estimated where the sensed information indicates that a tilt angle of the mobility aiding device is between a predefined threshold range.

16. The method of claim 10, wherein the one or more logical rules includes the application of a control feedback loop to maintain the speed of the mobility aiding device near a setpoint of the control feedback loop.

17. The method of claim 16, wherein the control feedback loop is a proportional- derivative feedback loop having a setpoint, a process variable and a manipulated variable, and wherein the setpoint is set at the desired speed depending on the estimated state of operation, the process variable is the speed at which the mobility aiding device is moving, and the manipulated variable is the angle of actuation of an actuator whose output is proportional to a motion inhibiting force applied to the movable components for permitting motion of the mobility aiding device by a motion inhibiting device.

18. The method of claim 17, wherein control constants of the proportional- derivative feedback loop have a value of Kp being approximately 3 and a value of Kd being approximately 2.5.

19. The method of claim 17, wherein the setpoint for normal movement set between approximately 2 and approximately 3 kilometers per hour.

20. A mobility aiding device having one or more movable components for permitting motion, the mobility aiding device comprising: a frame; one or more movable components for permitting motion coupled to the frame; one or more brackets for interfacing with a movable component for permitting motion of the mobility aiding device coupled to at least one of the one or more movable components for permitting motion, the one or more brackets comprising: a motion inhibiting device; an actuator coupled to the motion inhibiting device and configured to actuate the motion inhibiting device to apply a motion inhibiting force to a movable component for permitting motion of the mobility aiding device; a sensor coupled to the movable component for permitting motion of the mobility aiding device to sense information including at least acceleration, speed and position; a control module configured to: receive sensed information related to the operation of the mobility aiding device; and based at least on the sensed information, estimate an operational state of the mobility aiding device; and based at least on the operational state and the sensed information, apply one or more logical rules that are set to trigger the automatic engagement the actuation of one or more motion inhibiting devices associated with one or more movable components for permitting motion on the mobility aiding device when one or more conditions are met; wherein the control module is configured to implement one or more control loops to maintain speed at a desired set point; and wherein the one or more control loops includes a feedback loop having a setpoint, a process variable and a manipulated variable, and wherein the setpoint is set at the desired speed depending on the estimated state of operation, the process variable is the speed at which the mobility aiding device is moving, and the manipulated variable is the angle of actuation of an actuator whose output is proportional to a motion inhibiting force applied to the movable component for permitting motion of the mobility aiding device by a motion inhibiting device.