Abstract:
As the obesity rate climbs nationwide, obese and morbidly obese patients will continue to pose special lifting challenges to the healthcare industry. Obesity among American adults has nearly doubled during the past two decades. One in 80 men weights &gt;300 pounds and one in 200 women weights &gt;300 pounds. Getting assistance is crucial when moving these patients. With these rising numbers, have come the numerous complications relating to medical treatment for these bariatric patients. Healthcare providers must consider the additional costs associated with handling of the bariatric patient along with safety issues relating to both the bariatric patient and caregiver. Also, moving extremely obese patients can prove to very dangerous or even fatal. The most economical assistance to move bariatric patients to and from the hospital bed can only be provided by some mechanical aid. The management of bariatric patients produces special challenges, and the best way to ensure safe patient handling is through the use of special mechanical equipment that meet the size and weight requirements of these bariatric patients and that can be operated in very confined spaces. The target population is estimated to be the 4.5 million extremely obese persons in the United States, with a Body Mass Index (BMI) &gt;35 that will become patients in some health care facility. The Centers for Disease Control (CDC) estimates that care for obese patients costs an average of 37 percent more than people of normal weight. In 2003, obesity-related medical costs in the US reached &gt;$ 75 billion. This apparatus will be the first of its kind to incorporate adaptive control techniques to present-day assistive lift device designs.

Description:
This application claims the benefit of U.S. Provisional Application No. 60/592,905 filed Jul. 31, 2004 and U.S. Provisional Application No. 60/601,832 filed Aug. 16, 2004, incorporated by reference herein in their entirety. 

   BACKGROUND OF THE INVENTION 
   1. Technical Field 
   This invention relates to a portable patient lift apparatus for use by humans. More specifically, this invention relates to a portable lifting apparatus for assisting in lifting obese individuals in and out of a hospital bed or other locations and then transporting them to a different location. 
   Nursing staffs have the highest incidences of work-relate back problems of any occupation. The incidence rate continues to climb. Work-related musculoskeletal disorders (MSDs) account for a major portion of the cost of work-related injuries in the United States. A contributing factor is the fact that the American population has become one of the most overweight in the world. Nearly 97 million American adults are overweight. Of the 97 million overweight American Adults, it is estimated that 4 million are severely obese [Body Mass Index {BMI}&gt;35 and 1.5 million [BMI&gt;40] are morbidly obese. 
   With these rising numbers of severely and morbidly obese individuals come numerous complications relating to medical treatment. Besides the cost issue, healthcare providers must consider the daunting safety implications for both the patient and caregiver. One specific problem lies in simply providing a means for these patients to be able to rise or sit on the hospital bed or other locations without the risk of harm to the patient and/or the caregiver performing this task. 
   The movement of bariatric patients (a medical term derived from the Greek word “baros” meaning weight) produces special challenges to health care professionals. Internationally, bariatric patient is defined as an individual that has a BMI&gt;30. Many studies have shown that health care workers are at the greatest risk for musculoskeletal injuries when dealing with bariatric patients, particularly in the sit-to-stand transfer mode. The best way to ensure safe patient handling is through the use of specialized mechanical equipment that is designed to meet the size and weight requirements of the bariatric patient. 
   One of the main benefits of the apparatus is that it requires only a single person to perform the sit-to-stand transfer function of the bariatric patient, which in turn will reduce the resources expended to perform this task. 
   2. Description of the Prior Art 
   There are many types of mechanical lift mechanisms on the market for bariatric patient lifting. Some of the present designs are inherently unstable in nature because of their basic design philosophy. Others are extremely large and bulky and can not be used effectively in the bariatric patient&#39;s room. In others the inability to transfer bariatric patients from certain types of wheelchairs or other assistive items because they contain certain obstacles is inherent to their design. One of the functions of the proposed device is to provide controlled unassisted lifting movement for the user. The inability of some bariatric patients to provide any self induced lifting ability in a normal manner without the chance of a fall is a major limiting feature of present mechanical lift device designs. 
   There are at least 6 types of mechanical lift mechanisms on the market today. They range from he following: 1) Powered Hospital bed that converts to a chair (known as a Total Care Bed System®); 2) Permanently mounted powered ceiling system; 3) Permanently mounted powered wall system; 4) A mobile powered sling lift mechanical device; 5) Mobile powered lift/stand mechanical device; and 6) Powered Standing Frame mechanical device. However, each of these types has at least one major deficiency. 
   The majority of the lift systems are some type of a sling mechanism. The sling is subject to several types of failures. The FDA has reported that there have been more than 50 deaths and over 500 patients have been seriously hurt because of failure of sling type lift systems. The following is summation of failures that caused death or severe injuries: 1) The patient fell to the floor when the strap that attaches the sling to the lifting frame failed; 2) The patient fell to the floor when the gravity-activated locking clip which holds the strap to the lifting frame failed; 3) The patient fell to the floor because of the patient&#39;s movement within the sling allowed the sling to slip out of the spreader bar; 4) The patient fell to the floor because the sling that was used was too large for the patient; 5) The patient fell because the lifting frame failed because of excessive load; and 6) The patient fell to the floor because the lifting mechanism the raises and lowers the jib failed resulting the sudden drop of the jib. 
   The ceiling lift is one of the newest types of patient lift systems and has been available in the United States for several 5 years. The main disadvantages associated with the ceiling lift system are the installation of overhead tracks and failure and/or stoppage of the electric drive motor unit. A track must be procured and installed in each room that requires patient transfer capabilities. Room to room transfer with the ceiling lift system will be difficult. One problem is the removal of doorway headers and replacing them with some type of header assembly that will let the ceiling lift system pass from room to room but still provide privacy to the patient. Also load conditions on the ceiling and walls must be considered in the installation of this type of patient lifter. 
   The wall mounted lift system is similar to the ceiling lift system except the lifting motor unit is attached to a wall mounted jib rather than a track. The main disadvantages associated with the wall mounted lift system are the limited transfer range and failure and/or stoppage of the electric drive motor unit. 
   The powered mobile sling lift system also known as the Hoyer style lifter is the most commonly used. The main disadvantages associated with the powered mobile sling lift system are the ability of the caregiver to maneuver the lifter once a patient is loaded into the sling, failure jib mechanism and/or failure and/or stoppage of the electric lift motor unit. 
   A major problem with the use of any sling lift system is the fact that the patient requires a lift team (two or more caregivers who are training in proper lifting techniques) to move the bariatric patient on to and off the sling. Another problem is to provide the necessary force to move the lift mechanism to the desired location. To instruct the patient to remain motionless while being lifted to reduce the chance of lift mechanism instability is another concern. 
   The powered mobile sit/stand system differs from the three previous mentioned lift systems in the fact that the patient must be cognitive and provide some cooperative effort in the lifting task. The patient must possess some muscle tone in at least one lower limb, trunk and at least one upper limb. The main disadvantages associated with the mobile sit/stand system are the clearance required for the legs and/or maneuver the lifter once the patient is loaded on the lifter. 
   The powered standing frame system is similar to the mobile sit/stand system but it provides for a work area so that the patient can perform various tasks while standing without the fear of falling. The main disadvantages associated with the powered standing frame system are the ability of the caregiver to maneuver the system once a patient is standing in the device, failure of the control mechanism and/or failure and/or stoppage of the electric lift motor unit. 
   As mentioned above the Total Care Bed System® is not a lifting mechanism per se, it only positions the patient from a prone to sitting position but does not lift the patient out of the bed and transfer the patient to a new location. 
   SUMMARY OF THE INVENTION 
   Presently there are many techniques for providing maximum structural capabilities to patient lifting system designs. These patient lifting system designs have inherent deficiencies because of limited stability, mobility, space and ruggedness required in their use. The inability to acquire stress analysis data from these patient lifting system designs in a natural surrounding introduces some distortion in the data acquired and its interpretation of the data as a result of their inherent designs. In some cases it requires the tester to use cumbersome hardware and/or testing harness(s) in order to obtain the desired data for evaluation. 
   One of the unique features of this patient lifting system is that it allows the patient to maintain or increase muscle tone, range of motion and possibly optimize blood flow in the their extremities. 
   The apparatus uses a specialized drive wheel set to negotiate around various restrictive areas. The apparatus has steering and drive wheels, which are microprocessor controlled. In the storage mode the apparatus collapses into small mobile module that stands approximately 3 feet tall and base circumference approximately of 2 feet in diameter. When fully operational the device has approximately a maximum of 7 feet in height, appendages that have approximately a maximum reach of 4 feet and a base radius of approximately 3½ feet. The entire apparatus is motorized, which can operate on internal power source or external power. The caregiver operates the entire configuration by means of a remote controller, which is connected to microprocessor via a wireless datalink. This includes transformation from storage to operational mode, movement of the appendages, and movement of the device to various locations. The caregiver will determine direction, speed and location of the various appendages so as to lift the patient from one location and transport the patient to a different location by sending the appropriate control signal(s) to the various drive units that manipulate the various appendages and/or drive wheel. Each power drive unit consists primarily of a drive motor, gear reduction unit, coupling mechanisms and electronic control module. Steering is accomplished by control signals generated by the caregiver to drive a reversible DC brushless motor that rotates the rear drive wheel unit to the desired alignment direction. Also, a built-in power source such as lithium, Silver-Zinc, Alkali-Zinc batteries or some other power source [such as fuel cell(s), etc.] which provide the power required for each control module and various DC brushless motors. Power drive units could also be operated by means of hydraulics or similar power source rather than DC brushless motors except for the drive wheel portion. 
   The overall apparatus is designed for ease of use, transport and storage. In designing stability into the apparatus, overall effectiveness and safety was not compromised. The stability of the apparatus is determined and measured by the center of gravity and the resistance to tip-over the apparatus over any given terrain. The apparatus&#39;s weight plus the patient&#39;s weight upon the apparatus determines where the center of gravity will be for the apparatus. This new center of gravity and overall horizontal footprint will dictate if the apparatus will tip-over. The stability effectiveness of the apparatus is defined as the Apparatus&#39;s Stability Index (ASI). The higher the ASI, the less stable the apparatus becomes. As a general rule of thumb, a lower ASI not only equates to better stability of the apparatus but also indicates better performance on inclines, in non-stable surface (such as cracks, gap crossings, broken tiles, etc.). 
   From a stability perspective, the apparatus design offers the best solution for a versatile apparatus that is required to operate over diverse surfaces. This is because the design inherently provides a greater horizontal area (footprint) projection than standard mobile patient lift designs, resulting in a lower ASI. The design incorporates a very low ASI and uses weight reduction techniques such as hybrid composite materials. Size constraints were imposed during the design phase without compromise to safety. Design criteria have dictated that the overall apparatus is built for durability and safety. The apparatus&#39;s mobility will not be impacted by its traction ability over various surfaces (such as tile, cracks, gap crossings, broken tiles, etc.). 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
     Other objects and advantages of the present invention will become apparent from the following detailed description of the preferred embodiment of thereof taken in conjunction with the accompanying drawings, wherein: 
       FIG. 1  is an overall view of the invention and depicts the apparatus in is fully extended mode configuration; 
       FIGS. 2   a ,  2   b ,  2   c  and  2   d  are schematic presentations of the front, left side, right side and back of the main trunk unit configuration; 
       FIGS. 3   a ,  3   b ,  3   c  and  3   d  are schematic presentations of the top, left side, front, and right side of the middle trunk unit configuration; 
       FIGS. 4   a ,  4   b ,  4   c  and  4   d  are schematic presentations of the top, left side, front, and right side of the upper trunk unit configuration; 
       FIGS. 5   a ,  5   b  and  5   c  are schematic presentations of the three (3) variable geometry stability fin units of the invention; 
       FIGS. 6   a ,  6   b  and  6   c  are schematic presentations of left side wheel unit, right side wheel unit and steerable drive wheel unit of the invention; 
       FIGS. 7   a  and  7   b  are schematic presentations of the left side adjustable knee support unit and the right side adjustable knee support unit of the invention; 
       FIGS. 8   a ,  8   b ,  8   c  and  8   d  are schematic presentations of the left side inside view of the lifting arm unit, left side outside view of the lifting arm unit, right side inside view of the lifting arm unit, and left side outside view of the lifting arm unit of the invention; 
       FIGS. 9   a  and  9   b  are schematic presentations of left side extender bar unit and the right side extender bar unit of the invention; 
       FIGS. 10   a  and  10   b  are schematic presentations of the external view of the winch holder unit and winch unit of the invention; 
       FIG. 11  is an external view of the handheld control unit of the invention; 
       FIG. 12  is a block diagram of a wireless IR embodiment of the invention; 
       FIG. 13  is a block diagram of a wireless RF embodiment of the invention; 
       FIG. 14  is a block diagram of the electronic configuration of the invention; 
   

   DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
   Referring now to the drawings, wherein identical numerals indicate identical parts, and initially to  FIG. 1  which shows the profile view of the device in its maximum elevated position so the patient can rise from a seated position and then be located to another position. 
   The apparatus consists of a main trunk unit  1 , a middle trunk unit  2  that is nested into the main trunk unit  1  along with the upper trunk unit  3  and which is nested into the middle trunk unit  2 . Variable geometry stability fin units  4 A,  5 A,  4 B,  5 B {not shown},  4 C and  5 C are attached to the main trunk unit  1 . The weight, overall height of the patient that is to be lifted is programmed into the apparatus&#39;s microprocessor, which in turn determine the exact size of these stability fin units  4 A,  5 A,  4 B,  5 B {not shown},  4 C and  5 C. The overall height of the invention is also controlled by the microprocessor. The patient&#39;s physical size and weight dictates what the lifting arm units  8 A and  8 B length will be and the spread distance between these lift arm units which is determined by the length of extender bar units  14 A and  14 B. Elbow joint units  17 A {not shown} and  17 B couples lifting arm units  8 A and  8 B to extender bar units  14 A and  14 B. On the main trunk unit  1  is a set of adjustable padded knee support units,  7 A and  7 B which are adjusted by the caregiver to fit the patient&#39;s proportions. The positioning of the middle trunk unit  2 , upper trunk unit  3 , stability fin units  4 A,  4 B and  4 C, lifting arm units  8 A and  8 B, and extender bar units  14 A and  14 B is by reversible brushless DC motors with appropriate gearheads and various linkage mechanisms [not shown] which are in the control of the caregiver by means of a handheld control unit  409  {not shown} that has a wireless data link to a transceiver unit  419  {not shown}. The transceiver unit  419  {not shown} is internally connected to the microprocessor within the device. The apparatus maneuvers by means of wheel units  6 A and  6 B and steerable and reversible drive wheel unit  6 C. The internal power source unit [not shown] and electronics control unit [not shown] are located in compartment  12 . If the patient is lying on the bed he/she can grasp handle units  16 A and  16 B. The patient stands on footrest platform unit  19 . Once standing the patient can switch to handle units  15 A and  15 B if desired. Arm pad units  18 A and  18 B provide cushioning. Attached to the upper trunk unit  3  is the patient&#39;s back harness winch holder unit  11  and winch unit  13 . Also a chest protector pad unit  10  is mounted on the middle trunk unit  2 . 
   Referring to  FIGS. 2   a ,  2   b ,  2   c  and  2   d , which shows the external views of the main trunk unit  1 . The front external view of the main trunk unit  1  shows the footrest platform unit  19  and compartment door  12 . Which allows access to the power source unit and electronic of the invention. The right side view shows opening  22  for the variable geometry stability fin unit A. The left side view shows opening  21  for the variable geometry stability fin unit B. The back side view shows opening  23  for the variable geometry stability fin unit C. Adjustable padded knee support units  7 A and  7 B are shown on the front and back views. While left side view shows padded knee support unit  7 A and right side view shows padded knee support unit  7 B. 
     FIGS. 3   a ,  3   b ,  3   c  and  3   d  shows the external views of the middle trunk unit  2 . The front and top external views of the middle trunk unit  2  shows the chest protector pad unit  10 . The right side view shows opening  25  for the extender bar unit  14 B along with the chest protector pad unit  10 . The left side view shows opening  24  for extender bar unit  14 A along with the chest protector pad unit  10 . 
   In  FIGS. 4   a ,  4   b ,  4   c  and  4   d , which shows the external views of the upper trunk unit  3 . The front, right side and left side external views of the upper trunk unit  3  shows the winch holder unit  11  and winch unit  13 . The top view shows the winch holder unit  11  along with the winch unit  13 . 
     FIGS. 5   a ,  5   b  and  5   c  are the external views of the variable geometry stability fin units. The side view of stability A fin shows the fixed length leg  28  along with expanding horizontal leg units  35 ,  36  and  37  which in  FIG. 1  is denoted as  5 A and expanding diagonal leg units  32 ,  33  and  34  which in  FIG. 1  is denoted as  4 A. Reversible DC motor with gearhead  27  with coupling gears, screw nuts and threaded rod assembly {not shown} which allows  4 A and reversible DC motor with gearhead  27  with coupling gears, screw nuts and threaded rod assembly {not shown} which allows  4 A and  5 A to expand or contract at a predetermined rate as dictated by the apparatus&#39;s microprocessor. Included is connection unit  39 , which holds wheel unit  6 A. Likewise, stability B fin has a fixed length leg  42  along with expanding horizontal leg units  49 ,  50  and  51  which in  FIG. 1  is denoted as  5 B and expanding diagonal leg units  46 ,  47  and  48  which in  FIG. 1  is denoted as  4 B. Reversible DC motor with gearhead  40  with coupling gears, screw nuts and threaded rod assembly {not shown} which allows  4 B and reversible DC motor with gearhead  41  with coupling gears, screw nuts and threaded rod assembly {not shown} which allows  4 B and  5 B to expand or contract at a predetermined rate as dictated by the apparatus&#39;s microprocessor. Included is connection unit  53 , which holds wheel unit  6 B. Also, stability C fin has a fixed length leg  56  along with expanding horizontal leg units  63 ,  64  and  65  which in  FIG. 1  is denoted as  5 C and expanding diagonal leg units  60 ,  61  and  62  which in  FIG. 1  is denoted as  4 C. Reversible DC motor with gearhead  54  with coupling gears, screw nuts and threaded rod assembly {not shown} which allows  4 C and reversible DC motor with gearhead  55  with coupling gears, screw nuts and threaded rod assembly {not shown} which allows  4 C and  5 C to expand or contract at a predetermined rate as dictated by the apparatus&#39;s microprocessor. Included is connection unit  67 , which holds wheel unit  6 C. Connection plate  29  is used to secure stability fin A to the roof of main trunk unit  1  and connection plate  30  is used to secure stability fin A to the floor of the main trunk unit  1 . Likewise, connection plate  47  is used to secure stability fin B to the roof of main trunk unit  1  and connection plate  44  is used to secure stability fin B to the floor of the main trunk unit  1 . Also, connection plate  57  is used to secure stability fin C to the roof of main trunk unit  1  and connection plate  58  is used to secure stability fin C to the floor of the main trunk unit  1 . 
   In  FIGS. 6   a ,  6   b  and  6   c  are shown the external side view of wheel units  6 A and  6 B and drive wheel unit  6 C. Wheel unit  6 A consists of wheel  69  and wheel housing unit  68 . Wheel housing unit  68  is connected to connection unit  39 . Similarly, wheel unit  6 B consists of wheel  71  and wheel housing unit  70 . Wheel housing unit  70  is connected to connection unit  53 . Also, drive wheel unit  6 C consist of wheel  75  and wheel housing unit  72 . Wheel housing unit  72  is connected to connection unit  67 . Within wheel housing are the drive unit  73 , which consists of a reversible DC motor gearhead linkage assembly {not shown} and steering unit [ 74 ], which consists a reversible DC motor gearhead linkage assembly {not shown}. Appropriate control signals from the microprocessor operate the two DC motor units. 
     FIGS. 7   a  and  7   b , shows the external front views of adjustable knee support units  7 A and  7 B. Knee support unit  7 A consists of the horizontal adjustment plate unit  76 , the vertical adjustment plate unit  77  and knee support pad  78 . Horizontal adjustment plate unit  76  is attached to main trunk unit  1  by means of fasteners {not shown}, vertical adjustment plate unit  77  is attached to horizontal adjustment plate unit  76  by means of fasteners {not shown} and knee support pad  78  is permanently attached to the vertical adjustment plate unit  77  but is allowed to move in the slots by pins secured by a flange unit on each pin within adjustment plate unit  78  (not shown) and is allowed to move in the slots by pins secured by a flange unit on each pin within vertical plate unit  77  (not shown) as shown in  FIG. 7A . Knee support unit  7 B consists of the horizontal adjustment plate unit  79 , the vertical adjustment plate unit  80  and knee support pad  81 . Horizontal adjustment plate unit  79  is attached to main trunk unit  1  by means of fasteners {not shown}, vertical adjustment plate unit  80  is attached to horizontal adjustment plate unit  79  by means of fasteners {not shown} and knee support pad  81  is permanently attached to the vertical adjustment plate unit  80  but is allowed to move in the slots by pins secured by a flange unit on each pin within adjustment plate unit  80  (not shown) and is allowed to move in the slots by pins secured by a flange unit on each pin within vertical plate unit  80  (not shown) as shown in  FIG. 7B . 
   In  FIGS. 8   a ,  8   b ,  8   c  and  8   d  are shown the external views of the inside and outside lifting arm units  8 A and  8 B. The inside view of lifting arm  8 A shows the overall lifting arm  8 A and the gear rack  82  in which the extender connector rod  86  from the extender bar  14 A is mated. The outside view of lifting arm  8 A shows the elbow joint connector nut  84 , which secures elbow joint unit  14 A to the lifting arm  8 A. The inside view of lifting arm  8 B shows the overall lifting arm  8 B and the gear rack  83  in which the extender connector rod  87  from the extender bar  14 B is mated. The outside view of lifting arm  8 B shows the elbow joint connector nut  85 , which secures elbow joint unit  14 B to the lifting arm  8 B. Drive gear  88  {see FIG.  9 } engages gear rack  82  and moves lifting arm  8 A to assist the patient to be raised to a standing position and extender connector rod  86  {see FIG.  9 } allows the lifting arm  8 A to move up and down. Drive gear  95  {see FIG.  9 } engages gear rack  83  and moves lifting arm  8 B to assist the patient to be raised to a standing position and extender connector rod  87  {see FIG.  9 } allows the lifting arm  8 B to move up and down. 
     FIGS. 9   a  and  9   b  shows the external views of extender bar units  14 A and  14 B. The side view of extender bar unit  14 A shows extender connector rod  86  which is connected to reversible DC motor unit  91  which is connected to lifting arm  8 A. Drive gear  88  is connected to a shaft {not shown} which in turn is connected to a reversible DC motor unit  90  that moves extender arm unit  8 A back and forth. Gear rack  93  is connected to sleeve  89 , which is the outside covering of extender bar unit  14 A. It has a rectangular end and is threaded. Reversible DC motor unit  94  engages gear rack  93  that allows the extender bar unit  14 A to move in and out of middle trunk unit  2 . Motor units  94  and  92  are fastened to the wall of middle trunk unit  2  to hold extender bar unit  14 A in place. Likewise, the side view of extender bar unit  14 B shows extender connector rod  87  which is connected to reversible DC motor unit  98  which is connected to lifting arm  8 B. It has a rectangular end and is threaded. Drive gear  95  is connected to a shaft {not shown} which in turn is connected to a reversible DC motor unit  97  that moves extender arm unit  8 B back and forth. Gear rack  100  is connected to sleeve  96 , which is the outside covering of extender bar unit  14 B. Reversible DC motor unit  101  engages gear rack  100  that allows the extender bar unit  14 B to move in and out of middle trunk unit  2 . Motor units  99  and  101  are fastened to the wall of middle trunk unit  2  to hold extender bar unit  14 B in place. 
   In  FIGS. 10   a  and  10   b  are shown external view of the winch holder unit  11  and winch unit  13  also the details of winch unit  13  assembly. As shown in  FIG. 4 , winch hold unit  11  is fastened to the upper trunk unit  3  by attachment plate  106  and reversible DC motor unit  104 . Winch cable {not shown} is attached to reel [ 102 ], which in turn is connected to shaft [ 105  at one end and drive shaft [ 103 ] at the other end. 
     FIG. 11  shows the external view of the handheld control unit  9 . The apparatus switch  107  turns the power on or off to the apparatus, switch  108  which extends or retracts the variable stability fin units A, B and C, switch  109  raises and lowers the middle trunk unit [ 2 ], switch  110  raises and lowers upper trunk unit  3 , switch  111  controls the in and out movements of extender bar units  14 A and  14 B, switch  112  controls the in and out movements of lifting arm units  8 A and  8 B and switch  113  rotates the lifting arm units  8 A and  8 B in the vertical or horizontal plane or somewhere in between. Switch  115  turns on the power to the winch  13  and switch allows the winch reel  114  to reel in or out the cord/wire as required. Switch  116  set the speed of the apparatus and joystick  117  controls the forward/reverse motion and right and left turns as required. 
     FIGS. 12 and 13  show the two wireless data link methods. The wireless data link can either be of an Infrared (IR) type ( FIG. 12 ) or and Radio Frequency (RF) type ( FIG. 13 ). In either case, the microprocessor  140  is connected to an input/output interface  138 . One output from the input/output interface  138  is connected to a data input/output processor  139 , this in turn is connected to a IR receiver  153  or a RF receiver  154 . The receiver, either  153  or  154 , receives data from a remote computer  501  {not shown} or transmitter(s)  123  or  125 . Another output from the input/output interface  94  is connected to an input/output receptacle  137 . Proper wiring can connect this input/output receptacle  137  directly to the remote computer  501  {not shown}. 
   As shown in  FIG. 12 , an IR transmitter unit comprises of the following components: (1) Switch inputs  107  . . .  117 , (2) Encoder unit  118 , (3) Joystick inputs  117 , (4) 2 Channel A/D Converter unit  119 , (5) Combiner unit  120 , (6) Filter unit  121 , (7) Transmitter processor unit  122 , and (8) Transmitter/Light source unit  123 . Digital data is sent to the combiner unit  120 , the output is transferred to the Transmitter Processor  121  and is put into data packets with error correction algorithms, the output activates the transmitter/light source  123 . 
   In  FIG. 13 , a RF transmitter unit comprises of the following components: (1) Transmitter unit  125 , (2) Signal processor/modulator  124 , and (3) Combiner unit  120 . The transmitter unit  125  provides the modulation of the RF signal waveform. On the transmit side, the transmitter unit  125  accepts outgoing data messages from the signal processor/modulator  125 , continuous phase modulates the digital information, up-converts the frequency to RF frequencies, performs frequency hopping, and provides RF power amplification for output to the Transmitter&#39;s antenna. 
     FIG. 14  shows a block diagram of the electronic configuration of the invention. It has a receiver unit  153  or  154  depending if the wireless data is sent by IF or RF. For the IF mode, which includes a light detector  153 , (2) Receiver processor  139 , and (4) Input/output interface  138 . The receiver light detector  153  detects light energy, and the output is sent to the receiver processor  139  to be analyzed for a predetermined time period to detect presence of data and correct the data from any errors that might have been introduced during the transmission of the data. The processed data is sent to the input/output interface  138  for use by microprocessor unit  140  or by the remote computer  501  {not shown}. For the RF mode, the RF receiver  154  accepts RF energy inputs, rejects signals not of interest, down-converts, dehops, amplifies, filters, phase detects, and digitizes the message for output to the signal processor  139 . The signal processor performs preamble and message data processing, the data is analyzed for a predetermined time period to detect presence of data and correct the data from any errors that might have been introduced during the transmission of the data. The processed data is sent to the input/output interface  138  for use by some other unit such as the microprocessor  140  or by the remote computer  501  {not shown}. The microprocessor  140  has a executable program that directs the functions of the RF receiver  154 . This program provides control of the RF receiver  154 , processing of data packets for reception, input data from switch(s)/joystick activation(s), system time, and built-in test and fault detection. The Microprocessor  140  controls the various motors within the invention. Programmable rheostats  129 ,  130 ,  131  and  132  control the speed and direction of reversible DC motors  145 ,  146 ,  147 ,  148 ,  149  and  150  for Stability Fins A, B and C; drive wheel motor  151 ; and drive wheel motor  152 . Middle trunk movement is controlled by motor unit  133 , upper trunk movement by motor unit  134 , winch motor unit  155 , lift arm A motor unit  135  and lift arm B motor unit  136 , extender rod A motor unit  141  and extender rod B motor unit  142 , and rotate lift arm A motor unit  143  and rotate lift arm B motor unit  144 . Also is shown power source  126 , power on/off switch  127  and voltage regulator unit  128 . 
   All RF and IR transmissions are subject to noise, interference and fading. Most short-range RF and IR wireless data communications use some form of packet protocol to automatically assure information is received correctly at the correct destination. A packet generally includes a preamble, a start symbol, routing instruct, packet ID, message segment, error correct bits, and other information (if required). Various correction schemes can be employed to minimize transmission errors. 
   In describing the invention, reference has been made to a preferred embodiment and illustrative advantages of the invention. Those skilled in the art, however, and familiar with the instant disclosure of the subject invention, may recognize that numerous other modifications, variations, and adaptations may be made without departing from the scope of the invention. With these modifications, variations and adaptations can be applied to the various units within the apparatus.