WO2021178425A1 - Fauteuil roulant hybride - Google Patents

Fauteuil roulant hybride Download PDF

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Publication number
WO2021178425A1
WO2021178425A1 PCT/US2021/020503 US2021020503W WO2021178425A1 WO 2021178425 A1 WO2021178425 A1 WO 2021178425A1 US 2021020503 W US2021020503 W US 2021020503W WO 2021178425 A1 WO2021178425 A1 WO 2021178425A1
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WO
WIPO (PCT)
Prior art keywords
wheelchair
hybrid
user
hybrid wheelchair
armrest
Prior art date
Application number
PCT/US2021/020503
Other languages
English (en)
Inventor
Ahmad Alghazi
Original Assignee
Can Mobilities, 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 Can Mobilities, Inc. filed Critical Can Mobilities, Inc.
Publication of WO2021178425A1 publication Critical patent/WO2021178425A1/fr

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Classifications

    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0007—Measures or means for preventing or attenuating collisions
    • B60L3/0015—Prevention of collisions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
    • A61G5/0808—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction
    • A61G5/0816—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding side to side, e.g. reducing or expanding the overall width of the wheelchair
    • A61G5/0825—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding side to side, e.g. reducing or expanding the overall width of the wheelchair comprising a scissor-type frame, e.g. having pivoting cross bars for enabling folding
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1083—Quickly-removable wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/16—Touchpads
    • 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
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub

Definitions

  • the application describes example of enhanced capability (also referred to as smart) mobility aid devices, such as wheelchairs and the like, as well as apparatuses, systems, and processes for enhancing the capabilities of mobility aid devices.
  • Mobility aids such as wheelchairs can assist a user with various mobility challenges, such as due to age, injury or other mobility-impairing condition.
  • a mobility device can help the user keep the weight off an injured limb, assist with balance, and generally help the user perform day-to-day activities.
  • Mobility aid devices for example wheelchairs, have become ubiquitous with the aging population, and can provide an important service to allow people to maintain a degree of independence, despite increasing age, injury, paralysis, amputation, degenerative disorders such as amyotrophic lateral sclerosis, multiple sclerosis, arthritis, Parkinson's disease, or other mobility-impairing condition.
  • Wheelchairs typically provide a seat for a user to sit in, and a pair of large wheels that may include pushrims to allow users with the use of their arms to propel and steer the wheelchair. Alternately, wheelchairs may provide push handles that allow another person to walk behind the wheelchair and push it.
  • Powered wheelchairs and scooters are sometimes used to provide mobility to people with severe disabilities, who cannot propel a traditional wheelchair with their arms. Such powered wheelchairs tend to be large, heavy, and bulky, which detracts from some of the mobility they provide. For instance, powered wheelchairs cannot typically be loaded into a small car, nor lifted by a single person, and do not collapse for storage in a car or other storage location. Further, powered wheelchairs may have a limited turning radius making them less able to maneuver in tight quarters, such as around furniture, in the aisles of a store, or around people on a crowded sidewalk. BRIEF SUMMARY
  • the hybrid wheelchair includes a frame configured to support a person in a seated position and be rolled along a support surface.
  • a plurality of wheels are rotatably attached to the frame for rolling contact with the support surface.
  • the plurality of the wheels includes a pair of rear wheels which are powered by one or more wheel motors.
  • a controller is coupled to the one or more wheel motors and configured to activate and deactivate the one or more wheel motors to switch the wheelchair between a powered propulsion mode and a manual propulsion mode, respectively.
  • the hybrid wheelchair includes at least one sensor configured to detect rotation of the rear wheels, and wherein the controller activates the one or more motors upon detection of both of the rear wheels being rotated forward together.
  • the hybrid wheelchair includes at least one motor including a pair of hub motors, each coupled to a respective one of the rear wheels.
  • the hybrid wheelchair includes a motion control interface provided at a location accessible to a user while seated in the wheelchair. When the controller activates, when inactive, or adjusts a speed of, when active, the one or more motors responsive to command signals received from the motion control interface.
  • the motion control interface is a first motion control interface, and the wheelchair further includes a second motion control interface located on a push handle of the wheelchair. The controller is further configured to activate, when inactive, or adjust the speed of, when active, the one or more motors responsive to command signals received from the second motion control interface.
  • At least one of the first motion control interface and the second motion control interface includes a manual joystick.
  • the one or more motors are powered by a battery removably coupled to an armrest of the wheelchair.
  • the battery is rechargeable.
  • the frame is foldable between a use configuration and a storage configuration that is more compact than the use configuration.
  • the hybrid wheelchair includes a backrest extending upwardly along portions of the frame above the seat wherein the backrest and the seat include a flexible material or a hinge for folding the wheelchair into the storage configuration.
  • the flexible material or hinge extends depth- wise, along a central portion of the seat.
  • the hybrid wheelchair is light enough to be lifted by a person.
  • a wheel includes a status light.
  • the status light is provided as an LED.
  • the status light is an emergency beacon.
  • a wheel includes a light that illuminates a path before a direction of travel of the wheelchair.
  • the hybrid wheelchair includes a first armrest at a suitable location for a user to rest an arm when in a seated position.
  • the hybrid wheelchair includes a hanger adapted to hang a container of intravenous fluid.
  • the hybrid wheelchair includes a cuff adapted to receive an arm of the user and to measure a blood pressure of the user.
  • each of the rear wheels is removably coupled to the frame, wherein a respective hub motor is associated with each of the rear wheels, and wherein each of the rear wheels is separable from the respective hub motor, such that the hub motor remains attached to the frame when the respective rear wheel is removed from the frame.
  • each of the rear wheels is separable from the respective hub motor by a user without the use of any tools.
  • the hybrid wheelchair includes at least one processor communicatively coupled to one or more sensors onboard the wheelchair and configured to steer, based on inputs from the one or more sensors, the wheelchair when the wheelchair is in the powered mode.
  • the one or more sensors includes one or more cameras.
  • the one or more cameras include at least one forward-facing camera and at least one rear-facing camera.
  • the one or more sensors include at least one radar sensor.
  • the at least one radar sensors include at least one forward-facing radar sensor and at least one rear-facing radar sensor.
  • the one or more sensors include at least one sonar sensor.
  • the at least one sonar sensor includes at least one forward-facing sonar sensor and at least one rear-facing sonar sensor.
  • the motion of the wheelchair in the powered mode is guided by a guide device.
  • the first armrest includes a first electronic controller.
  • the first electronic controller includes a touchscreen, a digital joystick, or a physical joystick.
  • the first electronic controller extends upwardly from the armrest.
  • the hybrid wheelchair includes a second armrest disposed opposite the first armrest and at a suitable location for the user to rest another arm when in a seated position.
  • one of the first armrest or the second armrest includes a temperature sensor to measure a body temperature of the user.
  • one of the first armrest or the second armrest includes a sensor to measure a pulse rate of the user.
  • the second armrest includes a second electronic controller.
  • the second electronic controller is one of a touchscreen, a digital joystick, or a physical joystick.
  • the hybrid wheelchair includes an entertainment system, wherein one of the first electronic controller or the second electronic controller provides controls for the entertainment system.
  • one of the first electronic controller or the second electronic controller provides features of a smart phone.
  • one of the first armrest or the second armrest includes a microphone.
  • the entertainment system emanates sound in a direction suitable for consumption by the user when in the seated position.
  • the entertainment system provides a noise canceling function to reduce noise pollution that otherwise would interfere with the sound emanating from the entertainment system.
  • the entertainment system includes a tweeter in one of the first armrest or the second armrest.
  • the entertainment system includes a woofer disposed behind the seat.
  • the first electronic controller or the second electronic controller provides a functionality to make a phone call using the microphone.
  • one of the first armrest or the second armrest includes a conductive sensor.
  • the conductive sensor is operable to determine a body mass index of the user.
  • the conductive sensor is operable to determine an electrocardiogram of the user.
  • one of the first armrest or the second armrest receives a rechargeable battery that when received by the respective armrest provides electrical power to the wheelchair.
  • the battery slides into a receiving slot disposed on an underside of one of the first armrest or the second armrest.
  • one of the first armrest or the second armrest rotates between a use position supporting an arm of the user and an ingress position that facilitates ingress or egress of the user from the wheelchair.
  • one of the first armrest or the second armrest includes a power input port operable to power the wheelchair or recharge the rechargeable battery.
  • the hybrid wheelchair includes a push handle adapted to allow a person to push the wheelchair.
  • the push handle includes a motion control interface to control movement of the wheelchair.
  • the motion control interface includes a joystick.
  • the push handle pivots toward a centerline of the wheelchair to provide an ergonomic grip.
  • the hybrid wheelchair has a substantially zero turning radius.
  • FIG. 1 shows a front isometric view of a hybrid wheelchair in accordance with one embodiment
  • FIG. 2 shows a rear isometric view of the hybrid wheelchair of FIG. 1 ;
  • FIG. 3 shows a lower view of the hybrid wheelchair of FIG. 1.
  • FIG. 4 shows another embodiment of a hybrid wheelchair in a storage configuration
  • FIG. 5 illustrates an intelligence system 500 in accordance with one embodiment of the a hybrid wheelchair.
  • FIG. 6 shows a partial view of the hybrid wheelchair of FIG. 1 with a rim being removed from a hub.
  • FIG. 7 shows a partial rear, top view of the hybrid wheelchair of FIG. 1 including primary and secondary electronic controllers
  • FIG. 8 shows another embodiment of a hybrid wheelchair with a physical motion control interface disposed on an armrest
  • FIG. 9 shows the hybrid wheelchair of FIG. 1 in a configuration with a battery in the process of being removed from the wheelchair
  • FIG. 10 shows a wheelchair kit including the wheelchair of FIG. 1 and a battery charger
  • FIG. 11 shows the hybrid wheelchair of FIG. 1 in one configuration with an armrest in an ingress position
  • FIG. 12A and 12B show detail views of a portion of the wheelchair of FIG. 1 with the footrests in folded configurations;
  • FIG. 13 shows a care unit in accordance with one embodiment.
  • FIG. 14 shows a method of operating a hybrid wheelchair.
  • Examples of enhanced mobility aid devices are described herein, which may provide a wide array of additional functions beyond simply mobility assistance. Such mobility aid devices may thus also be referred to herein as smart or multi-function mobility aid devices (or simply mobility devices). Examples of smart mobility aid devices according to the present disclosure may provide a variety of functions associated with user safety, user monitoring (e.g., health monitoring) or tracking of user activity, and connectivity. Such enhanced mobility aid devices may help the user to be more independent and healthier.
  • FIG. 1 and FIG. 2 show an example of a hybrid wheelchair 100.
  • the hybrid wheelchair 100 includes a frame 102.
  • the frame 102 has upper support portions 154 and lower support portions 204 located at the left and right sides of the frame 102.
  • Lateral support portion 316 (best seen in FIG. 3) extend forward from the lower support portions 204 at left and right sides of the frame 102 and support downtubes 148 that extend downwardly therefrom.
  • Folding linkage support portions 314 extend forward from the lower support portions 204 and support a seat support 322 that supports a seat 104.
  • the hybrid wheelchair 100 may be propelled either by motors (e.g., hub motors 132) or can be propelled manually.
  • the hybrid wheelchair 100 may be lightweight (e.g., light enough to be lifted by a single person of ordinary strength) and may be foldable into a storage or transport configuration. The combination of light weight, portability and powered propulsion may have the benefit of providing increased autonomy for people who use wheel chairs.
  • the frame 102 is configured to be rolled along a support surface (e.g., the ground) responsive to a force (e.g., pushing force) applied by either or both a user and torque applied by motors to wheels of the hybrid wheelchair 100.
  • the frame 102 is thus provided with a plurality of wheels for rolling contact with the support surface.
  • the hybrid wheelchair 100 includes two casters 126 and two rear wheels 112.
  • the hybrid wheelchair 100 may include a greater number of wheels or casters.
  • the rear wheels 112 may be arranged such that the casters 126 and the rear wheels 112 of the hybrid wheelchair 100 are substantially in-line. In other examples, the rear wheels 112 and casters 126 may not be in-line.
  • the rear wheels 112 may be spaced farther apart from one another than the casters 126 to define a wider base near the rear, which may advantageously provide a more stable base at the rear of the hybrid wheelchair 100 where a substantial portion of the user’s weight is applied.
  • the frame 102 may be implemented using hollow tubular members.
  • the hollow tubular members may have circular, oval, or circular-flattened, or a cross-section having other regular or irregular shape, as may be desired for function or aesthetics.
  • the hollow interior of the tubular frame members may enable the installation of the wiring for connecting the various electronic components (e.g., sensors, display and/or processors) internally to the frame structure thereby concealing it from view, which may enhance the aesthetics of the hybrid wheelchair 100.
  • the right and left frame portions are symmetric and each includes an upper support portion 154 that supports a backrest 106, a lower support portion 204 from which extends a lateral support portion 316, a folding linkage support portion 314, and an armrest support portion 116 that supports an armrest 108.
  • a seat support 322 (see Fig. 3) is provided that supports the seat 104 and is coupled to the left and right folding linkage support portions 314 by a folding linkage 310.
  • a handle 202 may extend from the frame 102, for instance at a transition between the upper support portions 154 and the lower support portions 204.
  • the frame 102 has a pair of downtubes 148 that extend from the lateral support portions 316 in front of and below the seat 104.
  • the downtubes 148 have a pair of footrests 124 extending from the ends of the downtubes 148 laterally inwardly from the downtubes 148.
  • a backrest 106 extends transversely between upper support portions 154 located on the left and right sides of the frame 102. The backrest 106 extends upwardly along the upper support portions 154 above the seat 104. The backrest 106 preferably includes a broad, smooth surface suitable to support the back of a user when in a seated position on the seat 104. The backrest 106 may be flat, or it may have a concave curve suitable to comfortably accommodate the back of a user.
  • the backrest 106 may be connected to the right frame portion and the left frame portion.
  • the backrest 106 may be provided by any suitable structure positioned elevationally above the seat 104 such as to provide support for the user’s back when the user is seated.
  • the backrest 106 may be ergonomically shaped to define a curve between the left and right frame portion.
  • the backrest 106, or at least one or more portions thereof may be formed of a relatively flexible material, which is easily flexible (e.g., without permanent deformation) to enable folding of the hybrid wheelchair 100 for enhanced portability or storage.
  • the seat 104 and the backrest 106 are preferably made of a flexible material that can fold, to allow the hybrid wheelchair 100 to be collapsed into a compact storage configuration.
  • the seat 104 and/or the backrest 106 may have rigid portions and hinged portions that allow the hybrid wheelchair 100 to be collapsed into a compact storage configuration.
  • one or both of the seat 104 and the backrest 106 may be hinged around the midline and/or edges to enable folding of the hybrid wheelchair 100. The hinge may extend depth-wise, along a central portion of the seat 104.
  • a pair of armrests 108 extend forward from each upper support portion 154 of the frame 102, above the seat 104 at an appropriate location, and extend for an appropriate distance, to support the arms or hands of a user when in a seated position on the seat 104.
  • Either of the armrests 108 may include an electronic controller, such as the primary electronic controller 138 shown, for example, on the right armrest 108, or the secondary electronic controller 140 shown for example on the left armrest 108.
  • either of the primary electronic controller 138 or the secondary electronic controller 140 can be disposed on either of the armrests 108. In some embodiments, only one controller is included and can be disposed on either armrest 108.
  • the primary electronic controller 138 or the secondary electronic controller 140 may include a main user interface of the hybrid wheelchair 100, although additional user interface components such as additional displays, emergency buttons, speakers, microphones and or indicator lights may be provided at other locations on the hybrid wheelchair 100.
  • Either or both of the armrests 108 may include a biometric sensor 144 to collect biometric data from a user.
  • an armrest 108 may include health-monitoring sensors, sensors that detect biometrics of the person using the hybrid wheelchair 100, a grip detection sensor, a light sensor, a finger print sensor, a GPS component, and a user health status indicator.
  • Health-monitoring and biometric sensors may include but are not limited to sensors operatively arranged on the handle to monitor parameters associated with the user’s health or biometrics (e.g., for user identification) while the user is using the hybrid wheelchair 100 such as sensors capable of measuring blood and/or heart-related information such as blood pressure, blood sugar, heart rate, oxygen level/rate, an electrocardiogram (ECG or EKG) sensor (e.g., using a single or pair of electrodes, each in the respective armrests 108, footrests 124, knee touch points, portions of the frame 102 such as the downtubes, fingerprint sensor, etc. Having multiple touchpoints for an EKG reading may be advantageous to enable the use of a six-lead EKG measurement possibly resulting in more accurate heart health data than with only two touch points.
  • ECG or EKG electrocardiogram
  • the hybrid wheelchair 100 may be configured to use one or more of the above sensors and/or additional sensors to track user activity such as to help the user improve their health.
  • the smart mobility aid device may alternatively or additionally include one or more additional sensors selected from an accelerometer, a gyroscope, a MEMS magnetometer, a barometric pressure sensor, a temperature sensor, an inertial measurement unit (IMU), or load cells, and the like.
  • the sensor data recorded by any of the sensors of the smart mobility device may be coupled to a processor 502 (see, FIG. 5) which may be configured (e.g., via rule-based or machine-learning algorithms) to analyze the sensor data and extract information about the user’s activity and health trends. Collecting such data may be advantageous to automatically develop user health trends without the need for separate medical visits or instruments, and may alert a user to healthcare provider of developing conditions that need follow up.
  • Either or both of the armrests 108 may include a power input port 146 that may be coupled to an external power source, such as the electrical grid or an external battery to power the hybrid wheelchair 100, and/or to recharge an onboard battery 128.
  • Either or both of the armrests 108 may include a microphone 206 to take voice commands and/or make phone calls; and/or a high frequency speaker 208, such as a tweeter, for playing alert sounds, music, noise canceling waveforms, or other auditory entertainment.
  • the hybrid wheelchair 100 may take voice commands to initiate, control, or stop any function described herein.
  • the hybrid wheelchair 100 may take voice commands causing it to self-propel, steer, stop, or move to a location.
  • the hybrid wheelchair 100 could respond to spoken command such as “stop”, “left”, “right”, “back”, faster”, “slower”, or the like by taking the corresponding action.
  • the hybrid wheelchair 100 may take voice commands related to making a phone call or performing speech-to-text functions such as drafting a text message, email, or other communication.
  • the hybrid wheelchair 100 may take voice commands to initiate an emergency response.
  • the hybrid wheelchair 100 may take voice commands to control the playback of media.
  • the hybrid wheelchair 100 includes two rear wheels 112 on transverse left and right sides of the hybrid wheelchair 100.
  • Each of the rear wheels 112 includes a hub 152 rotationally attached to a lower support portion 204 (best seen in FIG. 2 and FIG. 3) of the frame 102.
  • the hub 152 is attached to a rim 114 extending radially from the hub 152.
  • the hub 152 in the embodiment of the hybrid wheelchair 100 shown is generally round, but other shapes may be used, as appropriate.
  • the hub 152 and rim 114 may be selectively rotationally and translationally locked together via any suitable mechanism, such as a key and keyway or spline.
  • a hub 152 may have a polygonal shape (e.g., a square or triangle) that is received by a corresponding central rim aperture 118 in the rim 114. Such arrangements may prevent relative slippage between the hub 152 and the rim 114.
  • the hub 152 and the rim 114 are generally rotationally balanced so that the centers of mass of the hub 152 and the rim 114, and thus the rear wheel 112 are substantially collocated with the centers of rotation.
  • the rim 114 is generally circular so as to provide a consistent rolling interface for the hybrid wheelchair 100 over a support surface. Having removable wheels may be beneficial by making the wheelchair more portable, and portable in smaller vehicles such as cars.
  • the rim 114 may have a tire 122 around its circumference to provide traction and vibration dampening.
  • the tire 122 may be either inflatable (e.g., with air or another fluid), may be solid, or may include a fluid pocket or foam, but not be readily inflatable by a user.
  • the tire 122 may have treads or other friction-enhancing features (e.g., spikes or studs) on its surface.
  • the rim 114 may also have a pushrim 120 near its circumference which can be gripped by a user to propel, turn, or steer the hybrid wheelchair 100.
  • the rim 114 may be a spoked rim or may be a continuous disc.
  • the base of the tire 122 may be configured to allow the user to tailor the device for different use conditions.
  • tire 122 may be interchangeable allowing the user to couple a different tire 122 (e.g., wheel of different diameter or providing different level of cushion or traction) depending on the use condition. This could allow the user to use the wheelchair in various weather conditions. For instance, studded snow tires, or fat tires, could be beneficial in cold, snowy climates. Likewise fat tires may be useful in locations with poor roads or sidewalks, to dampen bumps and vibrations.
  • the rear wheels 112 can preferably be disassembled (e.g., the rim 114 can be removed from the hub 152) without the use of tools. As shown for example in FIG. 6, the rim 114 may be slid transversely off of the hub 152. Generally, the hub 152 will remain attached to the frame 102. The rim 114 and/or the hub 152 may have features that lock the rim 114 and hub 152 together to prevent them from inadvertently becoming separated while allowing a user to separate them when desired. For instance, the hub 152 may have an interference fit into the central rim aperture 118.
  • the rim 114 may have a groove or detent disposed on its surface and the rim may have a ridge or bump that clicks into the detent or groove. Disassembly of the rear wheels 112 may be advantageous to store and/or transport the hybrid wheelchair 100.
  • Either or both of the hubs 152 may contain a hub motor 132.
  • the hub motor 132 is powered by an onboard battery 128.
  • the hub motor 132 can propel or steer the hybrid wheelchair 100 by applying torque to the rim 114.
  • Other types of motors may be used to power one or both of the rear wheels 112.
  • one or more of the casters 126 may also include a motor to propel the hybrid wheelchair 100.
  • the hybrid wheelchair 100 could have four-wheel drive.
  • One or more wheels, such as rear wheels 112, and/or one or more motors 132 may include or be associated with a wheel motion sensor 115 that senses aspects of motion of the wheels 112.
  • the wheel motion sensor 115 may sense a motion or torque input, speed, acceleration, and direction of rotation of the wheels 112.
  • the wheel motion sensor may sense a grip or touch from a user on a part of the rear wheel 112, such as the pushrim 120, tire 122, rim 114, or other parts.
  • the wheel motion sensor may convert the detected aspects of the motion of the wheels into an electrical signal to be sent to a processor for further processing and use in controlling the hybrid wheelchair 100, as described further, below.
  • a status indicator of the hybrid wheelchair 100 may be used to indicate a normal status of the user (e.g., a green light), or an emergency status (e.g., an elevated heart rate, low blood sugar, irregular ECG, etc.)
  • the hub 152 may include a status indicator such as a hub light 130.
  • the hub light 130 may indicate status, for example, via a different colored light (e.g., a red light).
  • An audible alert or a vibration of a component of the hybrid wheelchair 100 may be used to indicate status as well.
  • the hub light 130 may be provided as an LED ring or array and may wither rotate with the hub 152, or may be stationary.
  • the hub light 130 may be configured to communicate status of the hybrid wheelchair 100 by changing color, illuminating continuously, and/or blinking with certain patterns. For instance, the hub light 130 may blink one color (e.g., green) when the battery 128 is being charged. In another example, the hub light 130 may blink another color (e.g., yellow) when the battery 128 is at a low state of charge, and may blink, or illuminate continuously in yet another color (e.g., red) when the battery 128 is discharged.
  • one color e.g., green
  • the hub light 130 may blink another color (e.g., yellow) when the battery 128 is at a low state of charge, and may blink, or illuminate continuously in yet another color (e.g., red) when the battery 128 is discharged.
  • the hub light 130 may flash to indicate an emergency or to act as a distress beacon, for instance if a user has tipped the hybrid wheelchair 100 over, or has had a medical or other emergency, whether detected by a biometric sensor or navigational sensor of the hybrid wheelchair 100, or activated manually by the user.
  • An emergency status may also be used to initiate an emergency protocol of the hybrid wheelchair 100 such as automatically sending an emergency transmission (e.g., test or initiating a call for help) or providing a recommendation to the user to seek help.
  • the folding linkage 310 includes a corresponding anterior right link 306 and posterior right link 308 pivotally coupled to the right folding linkage support portions 314 by respective linkage assembly pivot pivots 312.
  • the anterior left link 302 and the posterior left link 304 extend from the left folding linkage support portions 314 toward the right folding linkage support portions 314 .
  • the anterior right link 306 and posterior right link 308 extend from the right folding linkage support portions 314 toward the left folding linkage support portions 314.
  • the anterior left link 302 and the anterior right link 306 are arranged to pivot with respect to one another about a mid portion 318 of the folding linkage 310 so as to move in a scissor action when the frame 102 is folded (e.g., into the compact configuration) and unfolded (e.g., into the use configuration).
  • the posterior left link 304 and posterior right link 308 are arranged to pivot with respect to one another about a mid portion 318 of the folding linkage 310 so as to move in a scissor action when the frame 102 is folded (e.g., into the compact configuration) and unfolded (e.g., into the use configuration).
  • each of the links 302, 304, 306, 308 is implemented using a plurality, in this case a pair, of parallel spaced-apart link members.
  • Each set of link members is pivotally connected to the respective side of the frame via the respective left or right linkage assembly pivots 312, which in this example are implemented as tubular members pivotally supported on a pin fixed to the frame.
  • the spaced-apart left link members are interleaved with and do not contact the right link members.
  • the seat 104 is coupled to the frame 102 (either removably or fixedly) by a seat support 322 and operatively positioned above the folding linkage 310 to support the user in a seated position.
  • the seat 104 is supported on left and right seat bars 320 in a manner, which does not impede the folding of the frame 102.
  • the seat 104 extends between the left and right seat bars 320, in some cases connecting the left seat bar 320 to the right seat bar 320.
  • spaced-apart link members form part of a seat support 322 for the seat 104.
  • the seat support 322 in the present example is implemented using a pair of left and right seat bars 320 coupled to the free ends of the anterior left link 302, posterior left link 304, posterior right link 308, and anterior right link 306 and extending generally horizontally along the edges of the seat 104.
  • the seat 104 is connected to span the distance between the two seat bars 320.
  • the seat 104 may be differently supported on the frame 102, such as being fixed directly to the frame 102 or coupled to support structures fixed to the frame.
  • the left and right portions of the frame 102 of the hybrid wheelchair 100 pull toward one another causing the folding linkage 310 to scissor and fold the hybrid wheelchair 100, e.g., as shown in FIG. 4.
  • the left and right frame portions are closer to one another than in the use configuration, thus the frame 102 and correspondingly the hybrid wheelchair 100 are provided in a more compact configuration.
  • Components of the hybrid wheelchair 100 that may be frequently touched such as the armrests 108, the seat 104, or components thereof, the folding handle, and various touch sensors on the frame 102, may be provided with a self-cleaning feature (e.g., a UV cleaner, which may be embedded in the armrest 108 or in a charger 1002 (see FIG. 10) for cleaning the armrest 108 of the hybrid wheelchair 100 while charging), which can be particularly useful in use cases where the same mobility aid device is shared among users, such as in a hospital or other care facility.
  • a self-cleaning feature e.g., a UV cleaner, which may be embedded in the armrest 108 or in a charger 1002 (see FIG. 10) for cleaning the armrest 108 of the hybrid wheelchair 100 while charging
  • the seat 104 can be made of any suitable material such as fabric, leather, plastic, and/or composite materials. In some examples, at least a portion of the seat 104, such as a middle portion, may be flexible to allow the seat to bend or fold (e.g., as shown in FIG. 4), enabling the folding of the hybrid wheelchair 100.
  • the seat 104 may include one or more load sensors, e.g., one or more load cells or strain gauges.
  • the load sensors may be configured to measure the weight of the user in a sitting position and transmit information associated with the user’s weight to the processor (e.g., processor 502., see FIG. 5).
  • the processor 502 may be configured to display the information on at least one of the displays (e.g., primary display 506 or secondary display 504).
  • One or more load cells or other load measuring devices operatively associated with the seat 104 may be used to track the user’s “seated weight” over time.
  • a seated weight measurement (or an average over a period of time such as over the duration of time during which the seat is in continuous use in a given instance) may be automatically recorded each time the user is detected to be in a seated position.
  • the seated weight measurements over a day, a week, or another duration of time may be collected and analyzed for trends, either by the processor of the mobility aid device, or by a remote processor such as a processor of a computing device of the user or another person associated with the user.
  • load sensing may be achieved, for example, by one or more strain gauges placed at various locations on the frame 102 of the hybrid wheelchair 100, such as on a load-bearing component e.g., the caster supports 150 , the upper support portions 154, and/or the lower support portions 204 of the frame 102.
  • the frame 102 may be manufactured from any suitable material for load bearing, such as metal (aluminum, steel, titanium, etc.), composite, or other.
  • the frame 102 provides a support structure for coupling other components thereto including electronic components and/or the outer shroud of the armrests 108, and all of the load applied to the armrest 108 by a user may be transmitted to the frame 102, which transmits the load to the ground. Certain areas of the frame 102 may experience higher stress, for example at the bend between the upper support portions 154, and the lower support portions 204, and may thus provide suitable locations for load sensing.
  • One or more strain gauges for example a strain gauge using a Wheatstone bridge (e.g., a full, half or quarter bridge) circuit, which may be provided on a circuit board, may be operatively coupled to the structure (e.g., to the frame 102) to sense deflection and thus strain experienced by the structure.
  • the strain gauge may be oriented in any suitable orientation.
  • FIG. 4 An embodiment of a hybrid wheelchair 400 is shown in FIG. 4 in the compact storage configuration.
  • the hybrid wheelchair 400 is substantially similar to the hybrid wheelchair 100 except it has a pair of optional push handles 402 to allow a person (e.g., caregiver) other than a user seated in the hybrid wheelchair 400 to grip and/or push the hybrid wheelchair 400.
  • the push handles 402 are removable.
  • the hybrid wheelchair 400 includes two push handles 402, one for each of the left and right hands of the caregiver.
  • the push handles 402 may pivot, for example toward centerline or midplane of the hybrid wheelchair 100 for a more ergonomic/convenient grip by different size users or caregivers.
  • the hybrid wheelchair 400 may be a smart mobility device and may thus be equipped with electronics, at least some of which may be located in or proximate to the push handle 402.
  • the hybrid wheelchair 400 may include a physical motion control interface 404 or a biometric sensor, such as a touch sensor, disposed on one or both of the push handles 402 to allow the caregiver to command the electrical steering and propulsion of the hybrid wheelchair 400.
  • the physical motion control interface 404 may be provided as a physical joystick, or a soft motion control interface 110 to control the movement of the hybrid wheelchair 100.
  • a motion control interface can be provided on a mobile device such as a smart phone or tablet physically separate from the hybrid wheelchair 100 and in wireless communication with the wheelchair to send it motion command signals.
  • the electronics enabling enhanced functionality of the mobility device may be provided in only one of the two push handles 402, with the other being essentially a “dumb" handle, that is a handle without any enhanced functionality associated with biometric monitoring, communications or display of data.
  • one of the pair of handles may be provided with limited functionality, such as biometrics monitoring, while the other handle may include the full functionality of the multifunctional mobility device and/or house the electronic components that enable the various smart functions of the mobility aid device, such as connectivity (e.g., external communication), display functions, processing of user data, etc.
  • a hybrid wheelchair 100 may have enhanced capability in that the hybrid wheelchair 100 may provide a variety of additional functions beyond simply mobility assistance, and my have the capabilities of a smart wheelchair.
  • the hybrid wheelchair 100 may include an intelligence system 500, described now further with reference also to FIG. 5.
  • the intelligence system 500 maybe configured to record data (e.g., sensor data), which may be used to monitor the user’s activities, which may be used for detecting emergency conditions (e.g., a fall of the user).
  • the intelligence system 500 may include one or more electronic components (e.g., sensors, a processor 502, memory 514, etc.) integrated into the hybrid wheelchair 100 to provide one or more of the additional functions of the hybrid wheelchair 100. For example, as shown in FIG.
  • the intelligence system 500 may include one or more sensors such as biometric sensors 508, navigational sensors 516, or other sensors such as one or more cameras, motion and/or acceleration sensors (e.g., accelerometers and/or inertial measurement units IMUs, proximity sensors (e.g., an optical proximity sensor), touch sensors (e.g., capacitive, resistance, or piezo switches and/or pressure sensitive capacitive sensors, etc.), load or pressure sensors (e.g., a load cell), and/or other types of sensors, one or more of which may be configured as biometric sensors.
  • motion and/or acceleration sensors e.g., accelerometers and/or inertial measurement units IMUs, proximity sensors (e.g., an optical proximity sensor), touch sensors (e.g., capacitive, resistance, or piezo switches and/or pressure sensitive capacitive sensors, etc.), load or pressure sensors (e.g., a load cell), and/or other types of sensors, one or more of which may be configured as biometric sensors.
  • the intelligence system 500 may also include one or more lights 520 such a as hub light 130, path light 142 or other lights; microphone 206, speakers such as high frequency speakers 208 or low frequency speakers 210; and/or other feedback devices.
  • the system may also include one or more displays (e.g., primary display 506 and secondary display 504), non-volatile memory 514, an external communications interface 510, and a processor 502 in communication with the various electronics for controlling or performing the functions of the intelligence system 500. While the processor 502 is illustrated, in block diagram form as a single component, it will be understood that multiple processor circuits may be used to implement the various computational and/or control functions of the processor 502.
  • the processor 502 may be implemented using any suitable combination of hardware and software components.
  • the processor 502 which may be implemented as a single or a plurality of operatively arranged integrated processing circuits (e.g., CPUs, GPUs), application-specific integrated circuits (ASICs), microcontrollers, or any combination thereof, may include or be communicatively coupled to one or more additional controllers 518 configured to drive mechanical components 522 of the intelligence system 500, such as brakes, rotational drives, pumps or others as may be used for autonomous operation of the hybrid wheelchair 100, or for other functions).
  • the processor 502 may also be in communication with a power management system 512, such as for automatic powering up and down of the various electronic components as well as controlling the battery 128 state of charge , as described herein.
  • the hybrid wheelchair 100 may include an entertainment system 212 to enable immersive entertainment experiences and may include at least one speaker 214 (e.g., high frequency speakers 208, low frequency speaker 210, or others) integrated into the hybrid wheelchair 100, which may be activated during a voice call and/or for audio playback.
  • speakers may be located in other parts of the wheelchair 100, including the seat 104 or backrest 106.
  • the entertainment system 212 may include a variety of speakers 214. For example, high frequency speakers 208 in the armrests 108, and/or low frequency speakers 210 located along the upper support portions 154.
  • the high frequency speakers 208 are adapted to play high frequency sounds (e.g., tweeters), and the low frequency speakers 210 are adapted to play lower frequency sounds (e.g., woofers).
  • the speakers are situated in suitable directions for consumption of auditory media by the user in a seated position on the hybrid wheelchair 100.
  • the entertainment system 212 can detect noise, such as via the microphone 206, and generate noise canceling waveforms from the speakers to provide a noise canceling function to minimize noise pollution.
  • Noise cancelling functions may be provided to reduce background noise for the user. Alternately, or additionally, noise cancelling functions can be projected outwardly to cancel media or phone call sounds emanating from the hybrid wheelchair 100 and/or the user.
  • Noise canceling may have aesthetic as well as practical considerations.
  • the speaker(s) nearest the user may be activated when making a call or receiving a call (e.g., if the user is detected in the seat, then the speaker(s) oriented toward the user in seated position may be activated, and may generate noise canceling waveforms.
  • the intelligence system 500 of the hybrid wheelchair 100 may also include an external communications interface 510, which may be implemented using any suitable electronic communication component such as Bluetooth, ZigBee, WiFi, or a cellular (e.g., 4G, 5G, LTE) communication component, or any other suitable wireless communication link currently known or later developed.
  • an external communications interface 510 may be implemented using any suitable electronic communication component such as Bluetooth, ZigBee, WiFi, or a cellular (e.g., 4G, 5G, LTE) communication component, or any other suitable wireless communication link currently known or later developed.
  • the hybrid wheelchair 100 may utilize the external communication communications interface 510 for various functions such as to transmit data (e.g., user activity data, setting of resistance of the rear wheels 112, setting of initial parameters, slope, or heartrate thresholds) recorded by the device to external computing device (e.g., the user’s or a caregiver’s laptop, cellphone, or other electronic device), to receive data such as to stream audio from a service provided, to place phone calls and/or send text messages, and others.
  • the communications interface 510 may be configured for establishing a link between the hybrid wheelchair 100 and other wireless communication enabled devices of the user, such as the user’s hearing aid, cell phone, etc. in which scenarios, the hybrid wheelchair 100 may function as an intermediate node in the network of connected user devices.
  • the hybrid wheelchair 100 may be configured to receive streamed audio (e.g., from a service provider or during a phone call) and either playback the audio (via the entertainment system 212) or transmit the audio to the user’s hearing aid, which can be based upon a user preference and/or the toggling of a control on the device.
  • streamed audio e.g., from a service provider or during a phone call
  • the entertainment system 212 may be configured to receive streamed audio (e.g., from a service provider or during a phone call) and either playback the audio (via the entertainment system 212) or transmit the audio to the user’s hearing aid, which can be based upon a user preference and/or the toggling of a control on the device.
  • one of the armrests 108 may include an electronic communication component of a first type (e.g., a Bluetooth or a WiFi communication component), while the other armrest 108 may include an electronic communication component of a second different type (e.g., a WiFi or a cellular communication component).
  • the communications interface 510 may be used to interface with a guide device such as another hybrid wheelchair 100 or a master control device to which the hybrid wheelchair 100 has passed mobility control.
  • the guide device may control some or all of the functions of the hybrid wheelchair 100.
  • the hybrid wheelchair 100 may be configured through its self-driving mode to follow the guide device.
  • the hybrid wheelchair 100 may be configured to detect a fall of the user.
  • the processor 502 may use sensor data from one or more of the sensors embedded into the hybrid wheelchair 100 to determine whether the user has fallen.
  • the processor 502 may be configured to receive image data from at least one camera, which has a field of view including an area around the base of the hybrid wheelchair 100, and the processor 502 may analyze the image data (e.g., using any suitable image processing technique such as image segmentation and/or an appropriately trained machine-learning model) to identify an object near the base of the hybrid wheelchair 100 that could indicate that the user has fallen (e.g., an object matching a portion of a person’s upper body, which in normal circumstances would not be located near the base of the hybrid wheelchair 100 ).
  • any suitable image processing technique such as image segmentation and/or an appropriately trained machine-learning model
  • the processor 502 may perform image data analysis for fall detection only when the processor 502 fails to detect contact of the user with the device, such as lack of touch or force being applied to the pushrim 120, to the frame 102 or the seat 104.
  • the hybrid wheelchair 100 may utilize any number of operatively arranged cameras, including a rear-facing, a forward-facing, or peripherally facing cameras for image data collection.
  • the image data from the camera(s) may alteratively or additionally be used by the processor 502 for other functions, such as to identify a user in a multi-user setting (e.g., when the same hybrid wheelchair 100 may be used by different users such as in a hospital or elderly care facility). Responsive to identification of the user, the intelligence system 500 may unlock the hybrid wheelchair 100 for use (e.g., by unlocking the brakes and/or unlocking the electronic features of the device) and retrieve and applying user-specific settings for the hybrid wheelchair 100 , such as illumination level settings, volume settings, emergency contacts, autonomous control parameters (e.g., speed, braking force level, etc.).
  • user-specific settings for the hybrid wheelchair 100 such as illumination level settings, volume settings, emergency contacts, autonomous control parameters (e.g., speed, braking force level, etc.).
  • the hybrid wheelchair 100 may include at least one camera which is operatively arranged on the frame (e.g., positioned and/or oriented) to include in its field of view an area that is expected to include a portion of the user’s upper body, particularly a portion that is expected to include the user’s head, particularly when the user is positioned proximate the hybrid wheelchair 100 in a seated position, or when transitioning between a seated and standing position, hi some examples, instead of cameras, a different type of sensor, or a combination of sensors may be used to identify a user in proximity, or a specific user, and to unlock and/or apply user-specific settings.
  • a different type of sensor, or a combination of sensors may be used to identify a user in proximity, or a specific user, and to unlock and/or apply user-specific settings.
  • a proximity sensor e.g., in a suitable location in the frame or associated with the primary user interface 702 or secondary user interface 704 (see FIG. 7) or touch sensor (e.g., in the biometric sensor 144 or associated with the primary user interface 702 or secondary user interface 704) may be used to detect a user in proximity or touching, respectively, the hybrid wheelchair 100, responsive to which the intelligence system 500 may unlock the device for use.
  • a variety of other sensors may be used to identify a specific user, such as biometric sensors 508 (e.g., a fingerprint reader, which can be embedded into a pushrim or armrest 108, such as on a functional button that is part of the user interface 702 or 704).
  • the camera(s) and/or other types of sensors may be used for obstacle detection.
  • a forward-facing camera may be operatively arranged on the frame 102 (e.g., positioned and/or oriented) to include in its field of view an area in front of the device and in some cases, specifically focusing the view ahead of the base of the device.
  • Image data processing can be used to detect objects in the path of the hybrid wheelchair 100.
  • the object detection may be used for automatic steering for obstacle avoidance.
  • the object detection may be used to provide an alert to the user.
  • the hybrid wheelchair 100 may include a navigational sensor to enable the hybrid wheelchair 100 to drive autonomously via the hub motors 132.
  • Various navigational sensors such as radar, cameras, sonar, LIDAR, GPS/GLONASS (or high precision variants of the same) or RF triangulation locators that position the wheelchair based on cell towers or indoor or outdoor beacons, or the like
  • the forward navigational sensor arrays 134 and/or the rear navigational sensor arrays 136 may be disposed on respective left and right portions of the hybrid wheelchair 100, or other portions of the frame 102.
  • the front forward navigational sensor array 134 may be disposed between a downtube 148 and a caster support 150.
  • a rear navigational sensor array 136 may be disposed on an upper support portion 154, on either or both of the left and right sides of the hybrid wheelchair 100.
  • the navigation sensors may include cameras, radar, sonar, and/or other sensors that enable the hybrid wheelchair 100 to detect and avoid both moving and stationary obstacles as the hybrid wheelchair 100 rolls over a surface.
  • the hybrid wheelchair 100 may use the navigational sensor arrays to avoid obstacles and/or follow a path either when the hybrid wheelchair 100 is propelled solely by the hub motors 132, when it is propelled by the user, or a combination of motored and user-driven propulsion.
  • the hybrid wheelchair 100 can automatically activate a hub motor 132 to cause the hybrid wheelchair 100 to avoid the obstacle.
  • the navigational sensors can be used to alert the user to the presence of the obstacle, for instance, through lights, sounds, or vibrations.
  • the hybrid wheelchair 100 may activate a hub motor 132 to apply emergency braking, or evasive maneuvering to avoid the obstacle, whether the hybrid wheelchair 100 was propelled by the user, the hub motor 132, or a combination thereof prior to the emergency maneuvers or braking.
  • the hybrid wheelchair 100 may be equipped with at least one emergency button provided as a physical button, or as a soft button on either or both of the primary user interface 702 and the secondary user interface 704 (see FIG. 7), and in some examples a plurality of emergency buttons, which the user can activate to send a distress or emergency signal, such as if the user falls, feels in danger, or requires assistance.
  • the button may be in the left armrest 108, the right armrest 108, or an emergency button may be provided on both armrests 108, which can be useful if one of the user’s hands is injured or has reduced dexterity.
  • one or more additional emergency buttons may be provided elsewhere on the device, such as peripherally on the frame (e.g., at the frame junctions), near or integrated into one or more of the wheels, etc.
  • the term button may be physical/mechanical button, or a soft control or button (such as provided by a touch screen associated with the primary electronic controller 138 or the secondary electronic controller 140), such as one implemented by a touch sensor (e.g., capacitive, pressure, pressure- sensitive capacitive, or other suitable touch sensors) programmed to effect the function associated with the emergency button responsive to a detected touch.
  • a touch sensor e.g., capacitive, pressure, pressure- sensitive capacitive, or other suitable touch sensors
  • the hybrid wheelchair 100 may include one or more touch sensors embedded at various locations on the frame 102 or armrests 108 such as biometric sensor 144, and programmed such that when touched by the user, they invoke a particular response such as indicating an emergency condition.
  • touch sensors may be differently configured.
  • touch sensors located near the armrests 108 may be programmed (e.g., by the user or caregiver) to invoke non-emergency functions such as turning on a light (e.g., the path lights 142), while other touch sensors may be programmed to invoke emergency functions, such as initiation an emergency transmission (e.g., a text message, a call) and/or activating emergency lighting of the device.
  • an emergency function such as an emergency transmission may require user verification, for example via voice command.
  • a touch of the emergency button or other emergency touch sensor may activate an appropriately located microphone (e.g., a microphone near the button/touch sensor engaged by the user such as microphone 206) to receive the appropriate voice command, such that an emergency transmission may not be initiated until a confirmation is received via the microphone.
  • the user may need to follow a voice prompt and provide commands to the hybrid wheelchair 100 via the microphone.
  • the device may engage the pre-programmed emergency protocol for the specific emergency condition, e.g., activate its sound system, which may include a combination of microphone(s) and/or speakers 214, to alert other users and seek help, activate emergency lighting, initiate an emergency transmission via the electronic communication communications interface 510, etc.
  • the emergency condition e.g., a medical distress
  • the device may engage the pre-programmed emergency protocol for the specific emergency condition, e.g., activate its sound system, which may include a combination of microphone(s) and/or speakers 214, to alert other users and seek help, activate emergency lighting, initiate an emergency transmission via the electronic communication communications interface 510, etc.
  • the hybrid wheelchair 100 may be configured to automatically activate one or more microphones of the hybrid wheelchair 100 upon detection of an emergency condition such as a fall and may be further configured, upon detection of the user’s voice via the microphone 206, to automatically initiate an emergency transmission (e.g., a voice call based on the audible information detected via the microphone, a text message of the audible information detected by the microphone, etc.).
  • an emergency transmission e.g., a voice call based on the audible information detected via the microphone, a text message of the audible information detected by the microphone, etc.
  • the hybrid wheelchair 100 may be configured to detect a fall of the user, and in such cases, the hybrid wheelchair 100 may be configured to automatically trigger the distress or emergency signal, which may involve the transmission of a message (e.g., text message), the initiation of a call to emergency response and/or another designated person (e.g., a caregiver), the sounding of an audible alarm, activation or lights, or any combination thereof.
  • a message e.g., text message
  • the hybrid wheelchair 100 may be configured to automatically trigger the distress or emergency signal, which may involve the transmission of a message (e.g., text message), the initiation of a call to emergency response and/or another designated person (e.g., a caregiver), the sounding of an audible alarm, activation or lights, or any combination thereof.
  • the hybrid wheelchair 100 may include a plurality of user interface components at various locations of the hybrid wheelchair 100 (e.g., near the armrests 108, near the push handles 402 or elsewhere), and the hybrid wheelchair 100 may be configured to intelligently power up or activate an appropriate user interface component based on the detected condition, such as by activating the microphone 206, speaker 214 or emergency button.
  • the hybrid wheelchair 100 may be configured for a tiered response, where certain non-normal conditions (e.g., a true emergency like a fall) triggers an automated response, while other non-normal conditions (e.g., a predicted emergency condition, such as if the hybrid wheelchair 100 detects the user or the hybrid wheelchair 100 is unstable based on the sensor data, the user is overexerted, overheated, dehydrated, or likely to lose balance), a near-emergency or distress response may be triggered, where the hybrid wheelchair 100 may suggest to the user to press the emergency button (e.g., by illuminating it in a steady or flashing manner) but may not automatically activate the emergency protocol.
  • non-normal conditions e.g., a true emergency like a fall
  • other non-normal conditions e.g., a predicted emergency condition, such as if the hybrid wheelchair 100 detects the user or the hybrid wheelchair 100 is unstable based on the sensor data, the user is overexerted, overheated, dehydrated, or likely to lose balance
  • the intelligence system 500 of the hybrid wheelchair 100 may provide additional or different responses, tailored to the specific scenario.
  • the hybrid wheelchair 100 may be equipped with a plurality of microphones at various locations, such as at elevationally lower locations (e.g., near the armrests 108, such as near or embedded in the rear wheels 112), and elevationally higher locations (e.g., near the upper part of the frame 102, such as near or integrated into the push handles 402).
  • One or more of the microphones may be automatically and intelligently activated upon the detection of an emergency condition such as a fall. For example, if a fall is detected, the system may activate the microphone nearest the fallen user.
  • a plurality of microphones closest to the user may be activated to enhance the likelihood of the user being heard on the other side of the call.
  • One or more of the microphones may additionally or alteratively be configured for manual activation.
  • a microphone built into the handle may be configured to be manually activated, while any of the microphones located elevationally lower than the handle may be configured primarily for automatic activation.
  • the manual vs. automatic activation of microphones may be controllable by the user and stored into memory 514 as a user preference or setting.
  • the hybrid wheelchair 100 may include at least one light source, which may function as a flash light, headlights, or path lights 142, and in some embodiments, a plurality of light sources may be arranged on the hybrid wheelchair 100 to serve a variety of functions.
  • the hybrid wheelchair 100 may include a light source (e.g., path lights 142) on a forward facing part of the hybrid wheelchair 100.
  • the path lights 142 may be disposed at forward ends of the armrests 108.
  • the path lights 142 may be headlights that illuminate a path before the hybrid wheelchair 100 to allow the user to see the path ahead.
  • the path lights 142 may be provided as LED lights with, or without, focusing optics to alter the optical properties of the light emanating from the path lights 142.
  • the path lights 142 may generate light that is outside the range of human visual perception, but can be detected by a navigational sensor (e.g., an infrared camera) to help illuminate the path or obstacles in front of the hybrid wheelchair 100, to help the intelligence system 500 avoid obstacles or self-drive.
  • Light sources may be provided elsewhere on the frame 102.
  • one or more of the light sources may be manually activated by a light switch (e.g., a mechanical button or switch or a soft control (provided by the primary user interface 702 and/or the secondary user interface 704, or a touch sensor such as the biometric sensor 144 ).
  • a light switch e.g., a mechanical button or switch or a soft control (provided by the primary user interface 702 and/or the secondary user interface 704, or a touch sensor such as the biometric sensor 144 ).
  • a single light switch may activate all of the lights sources (forward-facing and rear-facing), or independent switches (e.g., one on one armrest 108 and one on the other armrest 108 or both co-located on the same armrest 108) may be provided for different ones of the lights.
  • the switch may also be operable to toggle among different light settings (e.g., different levels or colors of illumination being provided by the light sources at different settings), and toggle to an OFF setting, which can be used to turn off the lights, irrespective of whether operating in a normal mode or emergency mode.
  • Path lights may be beneficial by allowing a user to use the wheelchair in low light situations (e.g., at night) and both see and be seen.
  • the light source may be operatively associated with a sensor configured to detect ambient light conditions.
  • the light source may be configured to activate automatically upon detection of low light conditions, for example corresponding to light conditions at dawn, dusk, evenings and nights, and/or dim indoor lighting conditions.
  • the sensitivity of the ambient light sensor may be configurable by the user to allow the user to increase or decrease the level of lighting that triggers automated activation of the light source, such as to enhance the user’s visibility when using the hybrid wheelchair or preserve battery power, when ambient lighting is sufficient.
  • the light source may be operatively associated with a controller that automatically activates the light source based on location or time of day, in addition to or alternatively to ambient light conditions.
  • the time of day and/or location that triggers activation of the light source may be programmed by the user, and in some cases associated with the user’s profile such that when a particular user is identified as a user of the hybrid wheelchair 100, the appropriate user settings are automatically invoked.
  • the lights may not turn on automatically but the ambient light sensor and/or user settings may instead trigger an alert to be automatically generated to remind or suggest to the user to turn on the lights, which alert may be displayed on any one of the displays and/or provided via a different feedback mechanism (e.g., a voice alert).
  • a plurality of lights sources may be located on the hybrid wheelchair (e.g., operatively arranged at various locations around the frame) for providing a variety of functions including for enhancing the user’s visibility of his or her surroundings (e.g., functioning as a flash light) and/or making the hybrid wheelchair and thus the user more visible to others.
  • one or more lights sources may be located on a rear-facing part of the hybrid wheelchair 100, or near the rear wheels 112, such as the hub light 130, and may be embedded into or otherwise coupled to the rear-facing sides of the left and right frame portions, a rear-facing portion of the frame 102, or other suitable location.
  • the rear-facing lights may be used for visibility (e.g., to enhance the visibility of the hybrid wheelchair, and thus its user, to others, including cars, pedestrians, etc.). Any of the light sources of the hybrid wheelchair 100 may also provide an alert function.
  • one or more of the forward-facing light sources (e.g., path lights 142), rear- facing light sources, or other light sources arranged around the frame 102 of the hybrid wheelchair 100 may be configured to operate at different frequencies, flash patterns, or illuminate in different colors.
  • the light sources may flash (turn on and off intermittently) at a lower frequency in normal conditions, such as when the user is seated.
  • the light sources may be configured to automatically switch to a higher frequency of flashing upon detection of an emergency condition.
  • a light subsystem may be configured to activate more sources of light as ambient lights decreases and/or upon detection of an emergency condition.
  • the frequency and/or color of the lights e.g., changing from yellow/white to red or orange, or for rear-facing lights changing from a red to orange or remaining at red but flashing at different frequency
  • the light sources may be arranged at various suitable locations around the frame 102, e.g., as shown by the hub lights 130, which are embedded in the hubs 152 on the rear wheels 112 and/or the wheels’ rims,; the path lights 142 on the armrests 108, etc.
  • the lights may be configured to illuminate in different patterns based upon the condition. For example, in a normal condition, lights may illuminate in an alternating pattern between the lower and upper positioned lights (e.g., illuminating the lower lights while turning off the upper ones, then switching to the upper and turning off the lower, and then repeating). In an emergency condition, as an example, the lights may be illuminated in a pattern such that they appear to circle around the frame, similar to an emergency rotating light. A variety of other suitable patterns may be used to indicate the change in condition.
  • one or more of the light sources may be integrated with other intelligence system 500 components (e.g., with the primary electronic controller 138, the secondary electronic controller 140, the microphone 206 and/or other user interface components located peripherally on the flame 102 and separated from the primary electronic controller 138 or secondary electronic controller 140 on the armrests 108).
  • the lights may also serve to illuminate to the user other controllable locations on the hybrid wheelchair 100, e.g., for making an emergency transmission (e.g., for sending a text or initiating a phone call) or for speaking into the microphone 206/entertainment system 212 of the hybrid wheelchair 100.
  • the light sources associated with a peripheral interface (e.g., communication) components may be configured to pulse or otherwise indicate to the user that they are receiving input (e.g., voice input) from the user, which can provide a piece of mind for a user that may have fallen and needs some assurance that his or her distress call is being heard.
  • input e.g., voice input
  • a hybrid wheelchair 100 may include one or more biometric sensors 508, which can be used for user identification, for measuring biological information and/or tracking user activity. As described above, one or more biometric sensors 508 may be used to automatically identify a user when the user makes contact with the hybrid wheelchair to unlock the hybrid wheelchair for use.
  • biometric sensors 508 such as the biometric sensor 144 may collect, heart rate, ECG (EKG), blood pressure, oxygen level, hydration level, temperature, grip force, body mass index, body fat, subcutaneous fat, visceral fat, body water, skeletal muscles, muscle mass, bone mass, metabolic age, and pressure or weight applied to the armrests 108 or pushrims 120 of the hybrid wheelchair 100 and other biological information may be measured, recorded, and in some cases used to derive information about the user’s health.
  • biometric sensors may be embedded in the rear wheels 112 such that health measurements are taken while the user is touching the wheels to move the wheelchair.
  • biometric sensors may be embedded in footrests 124, the seat 104, the backrest 106, or parts of the frame where the sensors may make contact with a user’s skin, to measure any of the above biometric information.
  • Biometric sensors 508 can include touch sensors or light-based sensors.
  • Heart related measurements e.g., heart rate
  • Heart rate may be measured, while the user is gripping the armrests 108 or pushrims 120, using a plate sensor, an optical sensor, or other suitable sensor positioned on any suitable side of the armrests 108 or pushrims 120 such as on the top or bottom side of the armrests 108 or pushrims 120.
  • Bio information in some cases may be used in combination with user identification data (e.g., a fingerprint scan, picture or the like) or in some cases in place of user identification data to identify the user and unlock the hybrid wheelchair.
  • user identification data e.g., a fingerprint scan, picture or the like
  • a measured heart rate, grip strength or grip configuration e.g., on a pushrim 120 or armrest 108 or mechanics, pressure/weigh applied to the hybrid wheelchair 100, or any suitable combination of biological measurements
  • the processor for identifying the user by matching the measurements to stored information about authorized users (e.g., of stored user profiles).
  • Measured and/or derived biological information may be stored onboard the hybrid wheelchair 100 (e.g., in a memory 514) and in some cases transmitted to an external device, such as a computing device of the user, a caregiver or healthcare provider.
  • the memory 514 may include a removable component, such as an SD card, a flash drive, or other removable data storage device.
  • a SIM card may provide at least a portion of the memory 514.
  • the hybrid wheelchair 100 may monitor clinical metrics of a user, such as sleep (e.g., via a biometric sensor or camera), eye movement, pupil dilation, or the like.
  • the hybrid wheelchair 100 may have a camera associated with the primary electronic controller 138 or the secondary electronic controller 140 or otherwise positioned to see the user’s face.
  • a sensor such as the biometric sensor 144, the primary user interface 702, secondary user interface 704, or a portion of a physical motion control interface 404 or physical motion control interface 802 may be configured to control the function of scrolling through options in the primary user interface 702 or the secondary user interface 704, such as items in a user’s electronic shopping cart, a playlist or other selectable items (e.g., contacts), when the hybrid wheelchair 100 is performing a function associated with a respective service, e.g., setting up settings of the hybrid wheelchair 100, communicating with the user’s shopping cart, digital play list, or phone book.
  • a function associated with a respective service e.g., setting up settings of the hybrid wheelchair 100, communicating with the user’s shopping cart, digital play list, or phone book.
  • the primary user interface 702, secondary user interface 704, or a portion of a physical motion control interface 404 or physical motion control interface 802 may at some times, such as upon detection of an emergency or near-emergency condition, perform emergency functions, while at other time, such as during non-emergency conditions, perform a
  • the primary user interface 702, secondary user interface 704, or a portion of a physical motion control interface 404 or physical motion control interface 802 may perform the click of a “one-click” shopping function.
  • the “select, 99 tt accept,” or one click function assigned to the primary user interface 702, secondary user interface 704, or a portion of a physical motion control interface 404 or physical motion control interface 802 may automatically be assigned by the system (e.g., intelligence system 500 of the hybrid wheelchair 100) based on the time of day, the location, sensor data, mode of operation, or other inputs.
  • the one- click function of the primary user interface 702, secondary user interface 704, or a portion of a physical motion control interface 404 or physical motion control interface 802 may be automatically assigned to perform a specific function, e.g., call a taxi, upon detection of the hybrid wheelchair 100 outside of the user’s home or at some other specified location.
  • the one-click function may be automatically assigned to checkout function (e.g., with saved payment method of the user) upon detection of the user in the grocery store, etc.
  • the one-click function may operate in conjunctions with an automatically re- configurable display such as the primary display 506 or secondary display 504, which automatically displays an icon indicative of the one-click function.
  • the one-click function is a transportation function (e.g., calling a taxi or Uber)
  • the icon displayed on either the primary display 506 or the secondary display 504 may show a transportation icon such as a car or taxi.
  • re-configurable functions may include an emergency function (e.g., emergency text or call) upon detection of an emergency condition such as a fall, a reminder function (e.g., a reminder that the user has a doctor’s or other appointment, or a medication reminder) upon detection of an appointment in the user’s calendar, a checkout or other payment function (e.g., upon detection of the user in a store, or when the hybrid wheelchair 100 is electronically connected to a shopping site), an automatic re-order function (e.g., for groceries, food delivery, or some other service), a periodic check in function with a caregiver, e.g., to confirm that the user is in a non-emergency status, and many others.
  • an emergency function e.g., emergency text or call
  • a reminder function e.g., a reminder that the user has a doctor’s or other appointment, or a medication reminder
  • a checkout or other payment function e.g., upon detection of the user in a store, or when
  • the icon indicating the function may be displayed on the primary display 506 or the secondary display 504, near the button whose functionality has been re-assigned based upon a detected condition or environment.
  • one or more of the motion control interfaces such as the soft motion control interface 110, which may include an input with a plurality of different selectable states, may have fixed functions, e.g., an emergency function and a setting control function, while another control of the user interface may be reconfigurable (e.g., by the user or automatically by the system) as described herein.
  • the functionality of physical buttons may be set, while re-configurable functionality may be provided with one or more touch-sensitive surfaces on the hybrid wheelchair 100, such as via a touch-sensitive display for the primary display 506 or the secondary display 504.
  • the armrests 108 may also include additional components associated with the hybrid wheelchair 100 intelligence system 500, for example one or more intelligently activated lights, such as path lights 142 or speakers 214, and touch sensor areas such as biometric sensor 144.
  • the primary electronic controller 138 has a primary display 506.
  • the secondary electronic controller 140 has a secondary display 504.
  • the primary electronic controller 138 provides a soft motion control interface 110 to control the motion of the hybrid wheelchair 100.
  • the soft motion control interface 110 can be provided as a virtual, software, or touchscreen joystick with functions to control the speed, direction, acceleration and braking of the hybrid wheelchair 100.
  • a physical motion control interface 802 is alternately or additionally provided to control the hybrid wheelchair 800.
  • Either or both of the primary electronic controller 138 and 140 can be provided with touch interfaces used in conjunction with the primary display 506 and secondary display 504. For example, resistive or capacitive touch interfaces can receive command from a user based on where on a the primary display 506 or secondary display 504 the user touches, either with a finger or other body part or a stylus.
  • the primary electronic controller 138 and/or the secondary electronic controller 140 may provide controls for the entertainment system 212; the functionality to make or receive a phone call or text messages, play media such as movies or music, games, and provide other functionality associated with a smart phone.
  • these functions of the secondary electronic controller 140 may be provided on the primary electronic controller 138 when the soft motion control interface 110 is not displayed or is not in use, such as when the hybrid wheelchair 100 is stationary or is in a manual operation mode.
  • the hybrid wheelchair 100 may stream content (e.g. via a wired or wireless network) from a suitable service such as television, HULU, NETFLIX, YOUTUBE, PANDORA, SPOTIFY, or the like.
  • the hybrid wheelchair 100 may store all or a portion of media content in memory 514.
  • Either the primary electronic controller 138 or the secondary electronic controller 140 may provide a respective primary user interface 702 and secondary user interface 704.
  • the primary display 506 may include one or more user controls (e.g., emergency button and light controls) which may be implemented as mechanical user controls or as touch-sensitive controls which may be separate from or an extension of the primary user interface 702 or the secondary user interface 704.
  • the portion of the primary user interface 702 or the secondary user interface 704 may be provided substantially by a touch sensitive display, which provides both the display and control functionality associated with the intelligence system of the armrest of the hybrid wheelchair 100.
  • the electronic components of the hybrid wheelchair 100 may be built into an armrest 108 and/or frame 102.
  • the battery 128 may be removably secured to the hybrid wheelchair 100.
  • a battery 128 can slide beneath an armrest 108, and removably attach to the hybrid wheelchair 100.
  • the battery 128 may include a battery connection interface 902 that includes elements to both physically support the battery 128, and electrically connect the battery 128 to the hybrid wheelchair 100.
  • the battery connection interface 902 may be provided as a receiving slot disposed on an underside of one of the left armrest 108 or the right armrest 108.
  • the battery 128 may slide into the receiving slot.
  • the hybrid wheelchair 100 may include a battery receiver 904 that interfaces both physically and electrically with the battery 128, via the battery connection interface 902.
  • Either the left armrest 108 or the right armrest 108, or both may accommodate a battery 128.
  • the batteries 128 may be interchangeably placed below either armrest 108.
  • the hybrid wheelchair 100 may be configured to operate with only one battery 128, and may have a longer range, or more power, or both when two batteries 128 are installed. Additionally, having more than one battery 128 may provide redundancy in case one battery 128 fails or is depleted.
  • the battery 128 may be charged while installed on the hybrid wheelchair 100, via the power input port 146 (See FIG. 1). When more than one battery 128 is installed, the batteries 128 can be electrically arranged either in parallel or in series.
  • the hybrid wheelchair 100 may utilize a re-chargeable battery 128 or any suitable battery technology for on-board power.
  • the hybrid wheelchair 100 may include a re-chargeable battery, such as a lithium ion battery.
  • the mobility aid device 100 may additionally or alternatively include a non-rechargeable (primary) battery (e.g., a back-up battery).
  • the battery may be integrated into a component that is less expensive to replace than the full hybrid wheelchair 100, such as an armrest 108.
  • the battery 128 may also be located in a removable armrest 108 in examples in which the intelligence system 500 is implemented as a “smart” base for retrofitting a “dumb” wheelchair.
  • the batteries 128 can be any suitable technology.
  • the batteries 128 are secondary (rechargeable) batteries.
  • primary (single use) batteries may be used in certain embodiments.
  • a small “coin” or watch battery may be used in association with the processor 502 to keep a real time clock running, or preserve user settings, if all the batteries 128 are depleted or removed.
  • the batteries 128 can be any suitable technology such as lead acid, nickel metal hydride, lithium ion, lithium polymer, nickel cadmium, or alkaline batteries.
  • the mobility aid device may be recharged by any suitable means.
  • the mobility aid device 100 may be equipped with a power input port 146 for insertion of a charging cable, which is configured to draw power from an external power source.
  • the power input port 146 may be connected to the processor 502 and/or the power management system 512 for determining the amount of power to be drawn from the external power source to recharge the onboard battery 128.
  • the charging interface e.g., power input port 146) is located on an armrest 108. This configuration may be particularly well suited for embodiments in which most of the electronics including the processor are located in the armrest 108.
  • This configuration may also provide for an ergonomic placement of the charging interface as a location conveniently positioned for the user (e.g., so as to not require the user to bend down to plug the hybrid wheelchair 100 into power).
  • the charging interface may, in other examples, be located elsewhere, such as near the base of the hybrid wheelchair.
  • the hybrid wheelchair may be wirelessly charged, for example via inductive charging through one or more coils operatively arranged on the frame 102.
  • the hybrid wheelchair may be placed on a charging mat and use wireless power transfer between the mat and coils in the wheels or at the base of the hybrid wheelchair.
  • the coil(s) may be placed elsewhere such as within the frame components, in the backrest 106, the seat 104 or elsewhere, and be configured to wirelessly re-charge the hybrid wheelchair 100 when positioned near a wireless charging unit, such as one mounted on a wall or otherwise positioned at the appropriate height to inductively couple to the coil(s) in the hybrid wheelchair 100.
  • the hybrid wheelchair 100 may be configured for self-charging (e.g., via one or more energy harvesters) and/or equipped with a charging circuitry for receiving electrical power from an external source (e.g., via a wired or wireless connection to an external power source).
  • Wireless charging of the hybrid wheelchair 100 may be achieved via any suitable wireless charging mechanism (e.g., via inductive charging, whether Qi compliant or not, via inductive radio or resonant charging).
  • a charging apparatus for a hybrid wheelchair 100 may be further configured to enhance the ease of use by including a magnetic coupling that assists with the alignment of the hybrid wheelchair 100 to the charger.
  • the hybrid wheelchair 100 may automatically return to the proximity of a wireless charger and position itself for receipt of wireless charging energy.
  • Other charging mechanisms including but not limited to, wireless charging, inductive charging, and conductive charging, may be used.
  • the hybrid wheelchair 100 may be rechargeable through use (e.g., while the user is rolling such as through regenerative braking).
  • the mobility aid device may include one or more energy harvesting devices, which convert, for example the rotary motion of the wheels into electrical energy.
  • one or more of the wheels may be motorized (e.g., for autonomous or semi-autonomous assisted driving), and when the wheels are not being powered for assisted driving, the motorization mechanism may operate in reverse to harvest power.
  • the mobility aid device may include other energy harvesting devices.
  • FIG. 10 shows an example of a wheelchair kit 1000 that includes a hybrid wheelchair 100, and a charger 1002.
  • the charger 1002 includes a charger base 1006 and a battery receiver 904 to receive a battery 128.
  • the battery receiver 904 of the charger 1002 is analogous to the battery receiver 904 of the hybrid wheelchair 100, and is configured to recharge the battery 128.
  • the charger 1002 is powered by a power cord 1004 that can be connected to the power grid (e.g., via a 120V wall outlet), or other suitable power source.
  • the charger 1002 shown has capacity to hold two batteries 128 and may either charge them simultaneously, or sequentially. Other chargers 1002 are envisioned that accommodate more or fewer batteries 128.
  • the charger 1002 shown is mounted, for example, on a wall.
  • a wheelchair kit 1000 may include any embodiment of a mobility assistance device disclosed herein, including the hybrid wheelchair 100, hybrid wheelchair 800 or the care unit 1300 (discussed below). Alternately or additionally, the charger 1002 can be provided by itself exclusive of a wheelchair kit 1000.
  • the hybrid wheelchair 100 can include an armrest pivot 1102 that allows one or both armrests 108 to pivot between a use position (e.g., positioned substantially horizontally or down) to support an arm of the user and an ingress position (e.g., substantially vertical or up) that facilitates ingress or egress of the user from the hybrid wheelchair 100.
  • a use position e.g., positioned substantially horizontally or down
  • an ingress position e.g., substantially vertical or up
  • the footrests 124 may be supported on a horizontal footrest pivot 1202 that allows the footrest 124 to pivot about a horizontal axis to either ease ingress or egress from the hybrid wheelchair 100, or to adjust an angle of the footrests 124 for user comfort.
  • a vertical footrest pivot 1204 may be provided at an end of the downtube 148 that allows the footrest 124 to pivot about a vertical access, primarily to ease ingress or egress of the user to the armrest pivot 1102, but may also be used to accommodate a user's comfort or other needs.
  • the footrests 124 may also pivot when the hybrid wheelchair 100 is in a collapsed storage or transport configuration.
  • a care unit 1300 may be provided that has any combination of the features of the hybrid wheelchair 100 or the hybrid wheelchair 800.
  • the care unit 1300 may include an intravenous fluid IV hanger 1306 suitable to hold IV fluids in an intravenous fluid container 1314 (e.g., an IV bag) for delivery to an IV fluid to a user.
  • the IV hanger 1306 may include a vertical rod 1308 extending above the user a sufficient height to allow a fluid in an intravenous fluid container 1314 to overcome the user's blood pressure and thus enter the user's veins.
  • the 1208 may be an adjustable height to adjust the pressure at which the IV fluid is delivered.
  • a lateral arm 1310 may be provided to hold or hang one or more intravenous fluid containers 1314, for instance from a hook 1312 located at an end of the lateral arm 1310.
  • the care unit 1300 may include an inclined secondary electronic controller 1304 situated on either armrest 108.
  • the inclined secondary electronic controller 1304 may have a larger display (e.g., 11” touch display) than the secondary electronic controller 140 in the armrest pivot of the hybrid wheelchair 100, and may be inclined above or extend upwardly from the armrest 108 to allow for easier viewing and interaction by the user.
  • the care unit 1300 may be adapted for use in a clinical setting such as a hospital, nursing home, clinic, or emergency department.
  • the secondary electronic controller 1204 may be configured to display a series of screens including a check-in screen where a user can enter information such as name, birthdate, and/or other identifying information.
  • the care unit 1300 may use such information to look up or book an appointment to see a medical professional.
  • the care unit 1300 may display a screen where it interviews a user to gather certain vital health information (e.g., blood pressure, pulse, pulse oxidation, weight, or the like)
  • the care unit 1300 may include a blood pressure sensor 1302 adapted to measure a user's blood pressure, pulse and other vital health information.
  • the care unit 1300 may prompt a user to insert an arm into a blood pressure cuff and may automatically inflate the cuff and measure a user's blood pressure.
  • the care unit 1300 may confirm when the measurements are done and deflate the cuff.
  • the care unit 1300 may include biometric sensors that measure a user's body temperature, either through contact or non-contact (e.g., infrared) measurements.
  • the care unit 1300 may also include load cells to measure a user's weight.
  • the care unit 1300 may use automated driving functions as previously described with respect to the hybrid wheelchair 100 to deliver the user to a doctor’s office or examination room when at an appropriate time (e.g., an appointment time).
  • Hybrid wheelchairs may include sensors to collect, monitor, analyze and/or represent data including but not limited to biometrics and activity tracking, safety and emergency functions, and general connectivity of the user via the hybrid wheelchair.
  • the activity tracking may include tracking a distance (e.g. miles), activity speed and/or activity type, as well as user applied torque to the rear wheels 112 on the hybrid wheelchair (e.g., for assessing/monitoring the user’s strength and thus health).
  • Various data about the user that is recorded by the hybrid wheelchair may be used (e.g., further analyzed or tracked over time) to determine parameters relating to the user’s physical movements and or biometric data, which in turn can provide information about the user’s health.
  • Biometrics data may include but is not limited to blood or heart-related information such as blood pressure, blood sugar, heart rate, oxygen level/rate, ECG data, EMG data, muscle strain, humidity, hydration level, and/or body temperature.
  • safety and emergency features of a smart hybrid wheelchair may include an emergency button, one or more lights, fall or tip detection and warning functionality, and/or user activity pattern collection and analysis of activity pattern changes.
  • sensors may be placed on the hybrid wheelchair to collect and monitor user data automatically.
  • User data, such as activity tracking data may in some cases be presented to the user in the form of visual information, sound/voice representation or alerts, and/or vibrational feedback or alerts.
  • a hybrid wheelchair may provide the user with connectivity to other electronic devices, such as a mobile phone, laptop, computer, or cloud storage or cloud based applications associated with the user or with a caregiver or healthcare provider.
  • the hybrid wheelchair may include an external communication interface, including at least one or in some cases a plurality of electronic communication devices such as Bluetooth, WiFi, and or/and a SIM card or other communication module to enable authentication and communication via a cellular network.
  • a hybrid wheelchair according to the present disclosure may analyze how a user moves using the device and advise a user on how to improve his motion pattern, recommend the use of a different mobility device and/or give the user and/or others (such as health care provider or caregiver) information about the user’s health (e.g., current metrics and/or information about patterns such as declining or improving health) or status (e.g., location).
  • health e.g., current metrics and/or information about patterns such as declining or improving health
  • status e.g., location
  • One example of information that may be tracked by the hybrid wheelchair may be distance travelled, which may be achieved, for example, by way of odometry measurements/calculations.
  • Any suitable odometer such as a mechanical, electromechanical, or computerized (e.g., magnetic-based) odometer, may be operatively associated with a rotational component (e.g., at least one wheel of the wheelchair) to track the distance traveled.
  • the distance travelled may be stored (e.g., in non-volatile memory 514), transmitted to the processor 502 for use in further analysis and/or computations, and/or reported to the user (e.g., on any of the primary display 506 or the secondary display 504, etc.).
  • the different displays may be configured to be active (e.g., to display information) at different times depending on a detected condition or change of condition.
  • multiple displays may be active and/or display information concurrently.
  • one display e.g., the primary display 506
  • the other display e.g., secondary display 504
  • concurrently or on-demand responsive to pushing a button provides different type of information or functionality, such as displaying a time of day, information about incoming call or other notification (e.g., upcoming appointment) or alert (e.g., low battery), settings for reconfiguring functions, or any other interface related to functionality of the intelligence system, without interruption to or affecting the functionality or display on the first display.
  • At least one of the displays may be configured to display information thereon (e.g., an odometer reading) in a size suitable for consumption by the appropriate demographic of user.
  • the display may display the odometer reading (e.g., distance travelled) in a size which an elderly user can perceive without vision enhancement.
  • the display font size may be adjustable by the user (e.g., by a user interface provided on the other display and/by an app on the user or caregiver’s smart phone, which transmits the settings to the smart mobility aid device).
  • the smart mobility device may be configured to track and optionally display odometer readings of different categories (e.g., a trip distance travelled, period distance travelled such as in a day, week, bi-week, a month, or any other period of time that may be set by the user or caregiver, or total distance travelled cumulative or all trips or periods of use of the smart mobility device after initial activation by the user).
  • odometer readings of different categories (e.g., a trip distance travelled, period distance travelled such as in a day, week, bi-week, a month, or any other period of time that may be set by the user or caregiver, or total distance travelled cumulative or all trips or periods of use of the smart mobility device after initial activation by the user).
  • the display may provide other information related to distance travelled, such as congratulatory or encouraging messages, comparison to other users, comparison to a previous day or other period, and information about trends or combinations thereof (e.g., indicate an increase of self-propulsion of the wheelchair as tracked over a week
  • Components used to obtain odometry measurements include, but is not limited to, mechanical mechanisms, video, electro mechanical sensors, optical, magnetic sensors.
  • Distance tracking or odometry may be achieved, for example, using a mechanical odometer (e.g., a mechanical counter which uses a toothed ring and finger to count revolutions of a wheel or shaft), a magnetic sensor (e.g., a Hall effect sensor or other suitable magnetic sensor), an optical interrupt sensor, and/or any currently known or later developed computerized odometer (e.g., one using a magnetic sensor to count revolutions).
  • a mechanical odometer e.g., a mechanical counter which uses a toothed ring and finger to count revolutions of a wheel or shaft
  • a magnetic sensor e.g., a Hall effect sensor or other suitable magnetic sensor
  • an optical interrupt sensor e.g., any currently known or later developed computerized odometer (e.g., one using a magnetic sensor to count revolutions).
  • a magnetic sensor which can provide suitable resolution, may be the TRIAXIS sensors provided by MELEXIS or other suitable miniaturized 3D magnetic sensor.
  • the sensor may be located at a wheel or individual sensors located at each of the wheels of the mobility aid device, and the sensor data may be coupled to the processor 502.
  • the sensor data may be coupled to other components of the intelligence system (e.g., processor 502) via any suitable communication link (e.g., individual/dedicated wiring or cable harness for each sensor, a common serial bus (e.g., a 1-wire two-way communication bus) or other suitable communication link.
  • any suitable communication link e.g., individual/dedicated wiring or cable harness for each sensor, a common serial bus (e.g., a 1-wire two-way communication bus) or other suitable communication link.
  • Utilizing two- way communication links to the location of sensors in the wheels may enable additional functionality such as providing light (e.g., LED) sources, buttons (e.g., emergency button), speakers, microphones or others to be located peripherally (e.g., on parts of the frame remote from the processor) and supported (e.g., electronically connected to the processor) by the same bus.
  • light e.g., LED
  • buttons e.g., emergency button
  • speakers e.g., microphones or others to be located peripherally (e.g., on parts of the frame remote from the processor) and supported (e.g., electronically connected to the processor) by the same bus.
  • Additional utility may be achieved by including an odometer on both right and left rear wheels 112. Not only does it provide redundancy and double the data available, but it can also detect asymmetry of motion that may be indicative of particular health status change, including the onset of a stroke.
  • a smart mobility aid device may be configured to turn on and off automatically, e.g., responsive to a detected grip by the user or other contact or proximity of an authorized user with the mobility aid device.
  • One or more sensors such as provided in a grip portion of a handle of the mobility aid device, may automatically turn the power on to one, some or all of the electronics on the mobility aid device, upon detection of the grip, contact or proximity of the user.
  • the detected grip, contact, or proximity may power or activate certain ones of the electronics or function (e.g., a camera and/or display, certain safety functions such as automated lighting functions, depending on ambient lighting conditions) but not others (e.g., communication functions such as to transmit user data and/or place voice/VIOP calls) until an authorized user has been authenticated by the device.
  • the hybrid wheelchair 100 may turn on or off automatically based on using facial recognition capabilities of the processor 502, or a remote processor with which the hybrid wheelchair 100 is in communication.
  • the hybrid wheelchair 100 may be set up to recognize the face of a new user via one or more images captured with a camera. When the user subsequently approaches the hybrid wheelchair 100, it may recognize the user’s face and turn on or enable certain functions.
  • the hybrid wheelchair 100 does not recognize a face of a person that approaches the hybrid wheelchair 100, it may not turn on. Such a feature could be useful to prevent unauthorized use or theft of the hybrid wheelchair 100.
  • any of the mobility devices disclosed herein, including the hybrid wheelchairs 100, 400, and the care unit 1300 may be operated in a variety of drive modes.
  • the hub motor 132 can propel or steer the hybrid wheelchair 100 without assistance from the user.
  • left and right hub motors 132 turn in opposite directions such that the hybrid wheelchair 100 can spin and may have a zero turning radius.
  • a hub motor 132 can assist the user to propel or steer the mobility device.
  • the mobility devices may be propelled by the user gripping and pushing or pulling on the pushrim 120, and simultaneously by a hub motor 132.
  • the hybrid wheelchair 100 can transition between these modes automatically, as described in further detail below.
  • the hybrid wheelchair 100 may be able to detect, via a suitable sensor, a torque input into a rear wheel 112 consistent with a user pushing the wheel e.g., via the pushrim 120.
  • a torque input into a rear wheel 112 consistent with a user pushing the wheel e.g., via the pushrim 120.
  • the hybrid wheelchair 100 may interpret this as a command to enter a forward electrically-driven mode.
  • the hybrid wheelchair 100 may then automatically activate an appropriate hub motor 132 to propel or steer the hybrid wheelchair 100.
  • the hybrid wheelchair 100 may initiate propulsion via a hub motor 132 when a motion control interface, such as a soft motion control interface 110 that receives a user command to move the hybrid wheelchair 100.
  • a motion control interface such as a soft motion control interface 110, physical motion control interface 404 or 802 may control the direction, steering and/or speed of the hybrid wheelchair 100 by controlling torque output of one or both hub motors.
  • a motion control interface may have positions or regions that correspond to forward, left, right, back, stop, or spin command.
  • the motion control interface may generate a motion control command to be sent to the processor 502 for further processing or use in controlling motion of the hybrid wheelchair 100.
  • the processor 502 may cause a controller (e.g., controller 518) to activate, when inactive, or adjust a speed of, when active, the one or more motors 132 responsive to motion control command signals received from the motion control interface.
  • a motion control interface may be configured to move the wheelchair at predetermined speeds, or may have a gradual progression of speed (e.g., the harder or further the motion control interface is pushed, the faster the wheelchair will move).
  • the hybrid wheelchair 100 may have a selectable or configurable speed limit that the hybrid wheelchair will not exceed.
  • the hybrid wheelchair 100 may have an ultimate speed limit that is set for instance by a manufacturer to limit the top speed of the wheelchair, that a user cannot set the configurable speed limit to exceed.
  • the hybrid wheelchair 100 may apply reverse torque from one or more motors 132, or brakes to decrease the speed of the wheelchair. Such features may be advantageous to prevent the wheelchair from rolling out of control down a hill or ramp.
  • the hybrid wheelchair 100 may detect via an appropriate sensor that the user is being over-exerted by propelling the hybrid wheelchair 100 via the pushrim 120, and may activate a hub motor 132 to assist.
  • the hybrid wheelchair 100 may include an accelerometer or tilt detector that can detect when the hybrid wheelchair 100 is on a hill and may apply additional power to the hub motor 132.
  • the hybrid wheelchair 100 may include a biometric sensor 144, such as a heart rate monitor that detects overexertion of the user through a quickened pace, reduced oxygen saturation, or other suitable metric and apply additional power to a hub motor 132 to help the user propel the hybrid wheelchair 100.
  • the hybrid wheelchair 100 can intentionally apply resistance to motion of the hybrid wheelchair 100 for rehabilitation purposes.
  • the hybrid wheelchair 100 can apply a torque to a hub motor 132 that resists the motion imparted by the user via a pushrim 120, in order to help strengthen the user's arms.
  • the hybrid wheelchair 100 may switch to an electrically powered mode of operation when an appropriate sensor detects that the user has touched a rear wheel 112.
  • a hub motor 132 may include a regenerative braking capability, in which as the hybrid wheelchair 100 slows, kinetic energy spinning the hub motor 132 is converted into electrical energy and stored in a battery 128. In such a case, the hub motor 132 may act as a generator or alternator.
  • the hybrid wheelchair 100 may monitor and/or track the strength of the user over time through the user's interaction with the rear wheel 112 (e.g., via pushing on the pushrim 120) and monitor that over time to infer different clinical cases and the user's overall health and well-being. Such data collected may be transmitted to other devices via either wired or wireless communications, as described below.
  • FIG. 14 shows a method 1400 of operating any mobility device disclosed herein, including the hybrid wheelchairs 100, 400, and the care unit 1300.
  • the operations of the method 1400 are presented in a particular order, for clarity of explanation. It is understood that the method may be used with the operations in different order than shown, some operations may be performed in parallel, and some operations may be optional, without deviating from the scope of the present disclosure.
  • the method 1400 may begin in operation 1402 and the processor 502 monitors for the presence of a motion command signal.
  • a motion command signal may be received from a motion control interface such as a soft motion control interface 110, physical motion control interface 404 (e.g., located in an optional push handle) or 802 (e.g., located on an armrest 108), as previously described.
  • the motion command signal may include commands to move forward, backward, left, right, spin, combinations of these, or stop or hold (e.g., hold the wheelchair 100 on a hill or incline).
  • the method 1400 may proceed to operation 1404 and the processor 502 determines whether a motion command signal has been received. If so, the method may proceed to operation 1420 and the processor 502 activates one or more motor 132, as discussed in greater detail, below. If not, the method may proceed to operation 1406, or optionally operation 1410.
  • Operations 1406 and 1408 are optional.
  • push handles 402 are optional, and may be removable from various embodiments of hybrid wheelchairs.
  • the method 1400 may not include operations 1406 and 1408 if, for instance: removable push handles 402 are removed from the wheelchair, as detected by an appropriate sensor; the wheelchair is configured without any provision for push handles 402; or the wheelchair has “dumb” push handles.
  • the hybrid wheelchair may be configured in a “user priority” mode in which motion inputs or touch from a user (e.g., as described in operations 1412-1422, below) seated in the wheelchair take priority over commands associated with the push handles.
  • the processor 502 may skip operations 1406 and 1408 if there are motion or touch inputs from a user, but may execute these operations if no user touch or motion inputs are detected.
  • the processor 502 monitors a biometric sensor, such as a touch sensor associated with a push handle 402 for the touch of a caregiver.
  • the processor 502 determines whether the touch is detected in association with a push handle 402, for instance form a caregiver. If touch is detected, the method may return to operation 1402 to monitor for motion command signals, especially those from with a motion control interface associated with a push handle 402, such as a physical motion control interface 404. If touch is not detected, the method may proceed to operation 1410.
  • the processor 502 monitors for the touch of a user, preferably in a seated position in the wheelchair, on a part of a rear wheel 112.
  • a rear wheel 112 may include one or more touch sensors located in association with a tire 122, a rim 114, a pushrim 120, and or a hub 152 of the rear wheel 112. The method may determine whether just one or both rear wheels 112 are being touched. If user touch is not detected, the method may return to operation 1402. If touch is detected, the method may proceed top operation 1414.
  • the processor 502 monitors for motion input to one or more rear wheels 112, indicative of a user intending to move the wheelchair by pushing on a part (e.g., a pushrim 120) of one or more rear wheels 112).
  • a navigational sensor such as a wheel motion sensor 115, which may be provided as a rotation or torque sensor, strain gauge or load cell, and may be associated with one or more of the rear wheels 112 and/or hub motors 132 to detect a user’s torque input, and/or movement of a rear wheel 112.
  • the wheel motion sensor 115 may measure a force couple or moment, with one force in the couple or moment being applied to a rear wheel 112 and a counteracting force being applied to the backrest via the user’s back (and measured with an appropriate sensor), indicative of a user pushing the wheelchair via a pushrim 120.
  • the wheel motion sensor 115 may send a signal to a processor such as the processor 502 indicating the direction of motion, speed, acceleration, and/or a torque applied to each of the rear wheels 112. The method may proceed to operation 1416.
  • the processor 502 determines whether a motion input signal was received from the wheel motion sensor 115.
  • the processor 502 may compare the motion input signal with a motion command signal from a motion control interface (e.g., as determined in operation 1402), such as the soft motion control interface 110, the physical motion control interface 404, or the physical motion control interface 802. If no motion input is received, the method may return to operation 1402. If a motion input is received, the method may proceed to one or more of operations 1418, 1422, or 1424, which may be executed in any combination of series or parallel.
  • the processor 502 determines the motion direction of one or more of the rear wheels 112. For example, the processor 502 may determine whether the left and right wheels 112 are rotating so as to move the wheelchair forward (e.g., the direction the user faces when seated), backward (e.g., the direction of the user’s back), to steer the wheelchair left or right, to spin the wheelchair (wheels turning in opposite directions), or any combinations of these. In one example, the processor 502 may determine that whether both rear wheels are being pushed at the same time and in the same direction.
  • the processor 502 determines the speed (or angular displacement) of one or more of the rear wheels 112.
  • a rotational speed e.g., revolutions per minute, radians per second, Hertz, or the like
  • the processor 502 may optionally determine a torque applied to one or more rear wheels 112. Torque may be an indication of how hard the user is pushing on the rear wheels.
  • the processor 502 sends appropriate commands consistent with either a motion command signal or a wheel motion input to the controller 518 to operate one or more motors 132 to effectuate the commanded motion of the wheelchair 100. If a motion command signal is currently being sent from a motion control interface (e.g., as determined in operation 1404), the processor 502 may send a command to the controller 518, causing the controller 518 to activate one or more hub motors 132 to rotate one or more rear wheels 112 in the same direction as the direction of motion indicated by the motion command signal. If the motion command signal is to brake, or stop, the processor 502 may cause the motors to stop turning, brake, or hold position.
  • the processor 502 may cause the controller 518 to apply more or less power to the motors 132 responsive to respective higher or lower input torques or speeds from the user, as determined in operation 1420. For example, if the user pushes harder on the pushrim 120, the wheel motion sensor 115 may sense the additional exertion and the processor 502 and controller 518 may compensate by applying more power or torque to one or more motors 132. Likewise, if the wheel motion sensor 115 detects that the user is pushing more lightly on the pushrim 120 (or other part of the rear wheel 112), has stopped pushing altogether, or has released the grip on the pushrim 120, the processor 502 may cause the controller to lessen power or torque to one or more motors 132.
  • the processor 502 may cause the motors 132 to brake, stop, or freewheel allowing manual control of the wheels 112.
  • the processor 502 may additionally apply a holding torque to the wheels 112 via the motors 132 such as when the user is on a slight incline or hill, to prevent the user from rolling when not desired.
  • the method may return from operation 1424 to operation 1402 in a loop.
  • enhanced functionality mobility devices may be provided in accordance with the examples of the present disclosure, which mobility devices provide one or more features to improve the safety, connectivity, and/or activity tracking of the user.
  • the device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • the terms “upwardly”, “downwardly”, “vertical”, “horizontal” and the like are used herein for the purpose of explanation only unless specifically indicated otherwise.
  • first and second may be used herein to describe various features/elements, these features/elements should not be limited by these terms, unless the context indicates otherwise. These terms may be used to distinguish one feature/element from another feature/element.
  • a first feature/element discussed below could be termed a second feature/element
  • a second feature/element discussed below could be termed a first feature/element without departing from the teachings of the present invention.
  • a numeric value may have a value that is +/-0.1 % of the stated value (or range of values), +/-1% of the stated value (or range of values), +1-2% of the stated value (or range of values), +1-5% of the stated value (or range of values), +/-10% of the stated value (or range of values), etc. Any numerical range recited herein is intended to include all sub-ranges subsumed therein.

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Abstract

La présente invention concerne des exemples de dispositifs de mobilité intelligents tels qu'un fauteuil roulant hybride qui comprend un cadre configuré pour être roulé le long d'une surface de support. Le fauteuil roulant hybride comprend une pluralité de roues fixées de manière rotative au cadre pour un contact roulant avec la surface de support. L'une des roues peut être une roue arrière actionnée par un moteur. Un siège est positionné au-dessus de la pluralité de roues. Dans un premier mode de fonctionnement, le fauteuil roulant est propulsé manuellement, dans un deuxième mode de fonctionnement, le fauteuil roulant est propulsé par le moteur, et dans un troisième mode de fonctionnement, le fauteuil roulant est propulsé à la fois manuellement et par le moteur.
PCT/US2021/020503 2020-03-04 2021-03-02 Fauteuil roulant hybride WO2021178425A1 (fr)

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US62/985,022 2020-03-04

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115376279A (zh) * 2022-08-17 2022-11-22 山东浪潮科学研究院有限公司 一种基于TinyML的低功耗智能辅助系统
WO2023069414A1 (fr) * 2021-10-18 2023-04-27 Ratner Edward R Dispositif de mobilité
US20230355095A1 (en) * 2022-05-09 2023-11-09 Kure, Llc Treatment chair

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Publication number Priority date Publication date Assignee Title
US5927414A (en) * 1995-07-31 1999-07-27 Sanyo Electric Co., Ltd. Wheelchair
WO2007079346A2 (fr) * 2005-12-30 2007-07-12 Olsen Christopher J Ensembles roue articulée et véhicules qui en sont équipés
US20160014252A1 (en) * 2014-04-04 2016-01-14 Superpedestrian, Inc. Mode selection of an electrically motorized vehicle
US20190049968A1 (en) * 2017-08-10 2019-02-14 Patroness, LLC Systems and Methods for Enhanced Autonomous Operations of A Motorized Mobile System
US20190269566A1 (en) * 2018-03-05 2019-09-05 Exedy Corporation Moving device

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Publication number Priority date Publication date Assignee Title
US5927414A (en) * 1995-07-31 1999-07-27 Sanyo Electric Co., Ltd. Wheelchair
WO2007079346A2 (fr) * 2005-12-30 2007-07-12 Olsen Christopher J Ensembles roue articulée et véhicules qui en sont équipés
US20160014252A1 (en) * 2014-04-04 2016-01-14 Superpedestrian, Inc. Mode selection of an electrically motorized vehicle
US20190049968A1 (en) * 2017-08-10 2019-02-14 Patroness, LLC Systems and Methods for Enhanced Autonomous Operations of A Motorized Mobile System
US20190269566A1 (en) * 2018-03-05 2019-09-05 Exedy Corporation Moving device

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Publication number Priority date Publication date Assignee Title
WO2023069414A1 (fr) * 2021-10-18 2023-04-27 Ratner Edward R Dispositif de mobilité
US20230355095A1 (en) * 2022-05-09 2023-11-09 Kure, Llc Treatment chair
CN115376279A (zh) * 2022-08-17 2022-11-22 山东浪潮科学研究院有限公司 一种基于TinyML的低功耗智能辅助系统

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