Powered mobility systems and methods

Powered mobility systems and methods are disclosed. A powered mobility system includes a mobile unit, a support frame, a plurality of markers, a motion capture device, and a processor. The mobile unit is operable to move the powered mobility system. The support frame is adapted to support a user. The plurality of markers are configured to be attached to the user. The motion capture device is configured to detect movement of the plurality of markers. The processor is programmed to receive signals from the motion capture device, translate the signals into instructions for moving the mobile unit, and transmit the instructions to the mobile unit. A powered mobility method includes placing a user in a support frame, attaching a plurality of markers to the user, detecting movement of the plurality of the markers, and generating movement of the mobile unit based on the movement of the plurality of the markers.

FIELD OF THE INVENTION

The present invention relates generally to mobility systems, and more particularly, to powered mobility systems for users lacking natural mobility.

BACKGROUND OF THE INVENTION

Self-generated mobility is a major contributor to the physical, emotional, cognitive, and social development of infants and toddlers. When young children have disorders that hinder self locomotion, their cognitive and psychological development is at risk for delay.

Many infants with special needs, such as with Down Syndrome, cerebral palsy, and autism, experience such a delay in their development of independent mobility due to weak musculature and/or poor coordination. Conventionally, in accordance with certain medical practices, these children may not use powered chairs until the age of five. As such, they spend considerably less time moving around in their environment compared to typically developing children of the same age. Lack of independent mobility may result in delays in their cognitive, perceptual, social, and emotional development, which are well correlated with locomotion.

Accordingly, there exists a need for systems that provide the ability for such children and other users to independently explore their world.

SUMMARY OF THE INVENTION

Aspects of the present invention relate to powered mobility systems and methods.

In accordance with one aspect of the present invention, a powered mobility system is disclosed. The powered mobility system includes a mobile unit, a support frame, a plurality of markers, a motion capture device, and a processor. The mobile unit is operable to move the powered mobility system. The support frame is coupled to the mobile unit. The support frame is adapted to support a user of the powered mobility system. The plurality of markers are configured to be attached to the user. The motion capture device is configured to detect movement of the plurality of markers. The processor is in communication with the motion capture device. The processor is programmed to receive signals from the motion capture device, translate the signals from the motion capture device into instructions for moving the mobile unit, and transmit the instructions to the mobile unit in order to move the powered mobility system.

In accordance with another aspect of the present invention, a powered mobility method is disclosed. The powered mobility method includes placing a user in a support frame, attaching a plurality of markers to the user, detecting movement of the plurality of the markers with a motion capture device when the plurality of markers are attached to the user, and generating movement of the mobile unit based on the movement of the plurality of the markers detected by the motion capture device.

DETAILED DESCRIPTION OF THE INVENTION

The various aspects of the present invention relate generally to systems and methods for permitting a user to navigate his or her environment. The disclosed embodiments include components that enable the user to generate and control his or her own movement through powered maneuvering of a mobile unit. The mobile unit is controlled by detecting the user's movements and then translating those movements into commands for the mobile unit. Desirably, the disclosed systems and methods may focus in particular on types of movements that relate to self locomotion, such as movements of the legs in kicking motions or simulated walking motions.

The systems and methods described herein are particularly suitable for advancing cognitive, perceptual and motor abilities of a user lacking natural mobility. Suitable users of the disclosed embodiments include children such as infants or toddlers having disorders that hinder development of self locomotion or mobility. Repeated use of the disclosed embodiments may desirably enable infants to learn that they how to maneuver the device and, thereby, explore their surroundings.

While the invention is described herein primarily with respect to use by infants who have not yet developed mobility, it will be understood that the invention is not so limited. The disclosed embodiments may be usable by any sort of user to control the mobility of the mobile unit. Additionally, while the invention is described herein primarily with respect to exploring of a reasonably flat environment through simple forward/backward movement, it will be understood that the invention is again not so limited. The disclosed embodiments may be usable to control any sort of movement, including, for example, climbing, crawling, swimming, jumping, or any other movements necessary to navigate particular embodiments.

An exemplary powered mobility system is described in U.S. patent application Ser. No. 12/245,169, entitled “POWERED MOBILITY FOR SPECIAL NEEDS CHILDREN,” filed on Oct. 3, 2008, the contents of which are incorporated herein by reference in their entirety. Certain embodiments of the present invention may include a user interface, as described in the above-referenced application, usable in cooperation with the components described herein to generate and control mobility.

Referring now to the drawings,FIGS. 1 and 2illustrate an exemplary powered mobility system100in accordance with aspects of the present invention. Powered mobility system100may be usable to assist a user that lacks natural mobility. As a general overview, powered mobility system100includes a mobile unit110, a support frame120, a plurality of markers130, a motion capture device140, and a data processor. Additional details of powered mobility system100are described herein.

Mobile unit110is operable to move powered mobility system100. Mobile unit110may be operable to advance and/or retreat in a given direction, and may be operable to turn through 360° with little or no turning radius. Mobile unit110may include a self-contained power source (e.g., a battery) in order to power any movements without the necessity or restriction of connection to an external power source. Mobile unit110may also include a plurality of sensors (e.g., sonar sensors) on its periphery in order to detect objects that may be encountered during movement of powered mobility system100. In an exemplary embodiment, mobile unit110is a drive assembly having a motor and multiple wheels. Suitable drive assemblies for use as mobile unit110include, for example, the Pioneer 3-DX robot from MobileRobots, Inc. of Amherst, N.H. Other suitable mobile units will be known to one of ordinary skill in the art from the description herein.

Support frame120is coupled to mobile unit110. Support frame120is adapted to support a user of powered mobility system100. Desirably, support frame120is sized to support an infant or small child user of powered mobility system100. Support frame120may include an attachment mechanism125for securing the user to support frame120. Attachment mechanism125may comprise any structure adapted to of secure the user without injury at any place along the user's body while enabling sufficient movement of the markers130for capture by motion capture device140. Suitable attachment mechanisms125include, for example, a strap, belt, harness, or other structure adapted to encircle or be worn by the user to secure the user to support frame120.

In one exemplary embodiment, support frame120comprises a platform, as shown inFIG. 1. The platform is configured to support the user of powered mobility system100in a prone position thereon. The platform may desirably include a pad to support the user's torso, so that the user is placed in a crawling position on support frame120. When support frame120comprises a platform, attachment mechanism125may comprise one or more straps for securing the user to the platform, as shown inFIG. 1.

In another exemplary embodiment, support frame120comprises an upright stand, as shown inFIG. 2. The upright stand is configured to support the user of powered mobility system100in an upright position. When support frame120comprises an upright stand, attachment mechanism125may comprise a harness connected to upright stand for securing the user in the upright position, as shown inFIG. 2. The harness desirably allows the user's legs to hang freely, without direct attachment to support frame120, such that the user can freely move his or her legs in a simulated walking motion.

It will be understood that support frame120is not limited to the above structures. Support frame120may comprise any structure that is able to hold a user in place as powered mobility system100moves. For example, support frame120may comprise a seat on which the user may be seated.

Markers130are configured to be attached to the user. Markers130may be attached anywhere on a user's body where the user is able to make detectable motions, including, for example, areas of the head, trunk, arms, legs, etc. Markers130may be attached to the user through any suitable connection such as, for example, buttons, straps, cords, belts, hook-and-loop fasteners, or other such connectors. Markers130are configured to be detected by motion capture device140, in order to enable operation of powered mobility system100by the user. Thus, markers130may include reflective and or structural components that may be easily recognized by motion capture device140in six degrees of freedom (three translation and three orientational). A suitable marker130for use with the present invention is shown inFIG. 1. Other suitable markers130will be understood by one of ordinary skill in the art from the description herein.

Motion capture device140detects the movement of markers130. Motion capture device140is programmed to identify the position and/or orientation of markers130on a real-time or periodic basis. Motion capture device140may comprise one or more cameras positioned to obtain images from the area of support frame120. The one or more cameras may obtain images at optical, infrared, or ultraviolet wavelengths, for example, based on the construction of markers130. The cameras may include or be in communication with software that enables recognition of markers130in the images obtained by the cameras. Suitable cameras will be understood by one of ordinary skill in the art from the description herein.

In an exemplary embodiment, markers130and motion capture device140are part of an augmented reality system. The augmented reality system is usable to build a virtual world or environment by first imaging the position and movement of real world objects using markers130. One suitable augmented reality system is the ARToolKit open source software application.

The data processor controls the operation of powered mobility system100. The data processor is in communication with mobile unit110and motion capture device140. For example, the data processor is programmed to receive signals from motion capture device140, translate these received signals into instructions for moving mobile unit110, and transmit those instructions to mobile unit110, in order to move powered mobility system100. Further functionality of the data processor is set forth in greater detail below regarding the operation of powered mobility system100. Suitable data processors will be known to one of ordinary skill in the art from the description herein. The data processor may further include data storage for storing data for use in controlling the operation of powered mobility system100, or data obtained during the operation of powered mobility system100. For example, the data processor may store information on the current position of powered mobility system100, the path traveled by powered mobility system100during a usage cycle, the speed of powered mobility system100during the usage cycle, or other data that may be useful in analyzing the use of powered mobility system100.

Powered mobility system100is not limited to the above components, but may include alternative or additional components, as would be understood by one of ordinary skill in the art.

For one example, powered mobility system100may include a user interface150, as shown inFIGS. 1 and 2. User interface150is positioned to be manipulated by a user when the user is supported in support frame120. The data processor may also be programmed to receive signals from user interface150, translate these received signals into instructions for moving mobile unit110, and transmit those instructions to mobile unit110, in order to move powered mobility system100. In an exemplary embodiment, user interface150is a commercially-available joystick that may be touched or grasped by the user during operation of powered mobility system100. Alternatively, user interface150may be a touch screen, mouse, or other device adapted to receive input from a user.

Exemplary operations of powered mobility system100will now be described in accordance with aspects of the present invention.

In the embodiment shown inFIG. 1, support frame120of powered mobility system100is configured to support the user in a prone position. In this embodiment, the plurality of markers130may be configured to be attached to the legs of the user (e.g., via straps), and the motion capture device140may be suspended above the user. In particular, it may be desirable to attach markers130to the backs of the user's legs, to facilitate detection by motion capture device140.

In an exemplary operation of powered mobility system100in accordance with this embodiment, the user makes a kicking motion, which correspondingly moves markers130. Motion capture device140is configured to detect the movement of markers130caused by the kicking motion of the user. Upon detecting this movement, motion capture device140transmits a signal to the data processor. The signal may indicate, for example, which marker130has moved, an updated position and/or orientation of the marker130, and/or a speed of the marker130. With this information, the data processor generates instructions for operating mobile unit110. For example, kicking of both legs by the user may correspond to an instruction to advance or retreat mobile unit110in a given direction. For another example, kicking of a single leg by the user may correspond to an instruction for turning mobile unit110in the direction of the leg being kicked. In any of these examples, the speed of movement of mobile unit110may be controlled to be proportional to the speed of the kicking motion of the user, or the extent of the movement of marker130.

In the embodiment shown inFIG. 2, support frame120of powered mobility system100is configured to support the user in an upright position. In this embodiment, the user's legs may dangle freely below him or her. The plurality of markers130may be configured to be attached to the legs of the user (e.g., via straps), and the motion capture device140may be attached below the user (e.g., to the underside of the harness).

In an exemplary operation of powered mobility system100in accordance with this embodiment, the user makes a simulated walking motion, which correspondingly moves markers130. The simulated walking motion may comprise moving the legs forward and backward while in an upright position, thereby mimicking the walking gait of a normally mobile person. Motion capture device140is configured to detect the movement of markers130caused by the simulated walking motion of the user. Upon detecting this movement, motion capture device140transmits a signal to the data processor. As stated above, the signal may indicate, for example, which marker130has moved, an updated position and/or orientation of the marker130, and/or a speed of the marker130. With this information, the data processor generates instructions for operating mobile unit110. For example, a walking motion using both legs may correspond to an instruction to advance or retreat mobile unit110in a given direction. For another example, a walking motion with a single leg may correspond to an instruction for turning mobile unit110in the direction of the leg performing the walking motion. In any of these examples, the speed of movement of mobile unit110may be controlled to be proportional to the speed of the simulated walking motion of the user, or the extent of the movement of marker130.

It will be understood that the example instructions set forth above with respect to both embodiments are not intended to limit the movement/instruction combinations that may be performed by powered mobility system100. Other example movement/instruction combinations include: tracking hand/arm movement of the user with markers130to generate advance/retreat instructions for mobile unit110; tracking head movement of the user with markers130to turn mobile unit110; or tracking torso movement of the user with markers130to generate movement of mobile unit110.

After the data processor has generated instructions, the data processor transmits the instructions to mobile unit110, to operate the mobile unit to performed the desired movement in order to move powered mobility system100.

When powered mobility system100includes user interface150, the operation of powered mobility system100may be supplemented based on those additional signals. For example, the user may manipulate user interface150to generate an instruction to turn mobile unit110, and may perform a kicking or simulated walking motion to advance or retreat mobile unit110. Accordingly, the user may generate signals in multiple ways to control the movement of mobile unit110.

By allowing a user of powered mobility system100to generate movement by recording movements of the user, powered mobility system100may enable users lacking natural mobility to more effectively explore and interact with their surroundings, and may enhance cognitive, perceptual, social, and/or emotional development.

FIG. 3shows an exemplary powered mobility method200in accordance with aspects of the present invention. Powered mobility method200may be usable to assist a user that lacks natural mobility. As a general overview, powered mobility method200includes placing a user in a support frame, attaching a plurality of markers, detecting movement of the markers, and generating movement of a mobile unit. Additional details of method200are described herein with respect to the components of powered mobility system100.

In step210, a user is placed in a support frame. In an exemplary embodiment, the user is placed in support frame120. Support frame120is coupled to mobile unit110, which is operable to move support frame120. In one preferred embodiment, the user may be placed in support frame120in a prone position, as shown inFIG. 1. In another preferred embodiment, the user may be placed in support frame120in an upright position, as shown inFIG. 2. The user may be an infant or small child. The user may be secured to support frame120by attachment mechanism125.

In step220, a plurality of markers are attached to the user. In an exemplary embodiment, markers130may be attached to the user through any of the connectors discussed above with respect to powered mobility system100. As shown inFIG. 1, markers130may desirably be attached to the user's legs.

In step230, movement of the markers is detected. In an exemplary embodiment, motion capture device140detects movement of markers130when markers130are attached to the user. Motion capture device140may detect the movement of markers130on a real-time or periodic basis. As set forth above, when the user is supported in the prone position, as shown inFIG. 1, motion capture device140may detect movement of markers130caused by a kicking motion of the user. Similarly, when the user is supported in the upright position, as shown inFIG. 2, motion capture device140may detect movement of markers130caused by a simulated walking motion of the user.

In step240, movement of a mobile unit is generated based on the detected movement. In an exemplary embodiment, the data processor generates instructions for moving mobile unit110based on the movement of markers130detected by motion capture device140. The instructions may include instructions to advance or retreat mobile unit110, or turn mobile unit110, based on kicking or simulated walking motions performed with one or both of the user's legs. After the instructions are generated, they may be transmitted to mobile unit110to generate the desired movement of mobile unit110, in order to move powered mobility system100.

Method200is not limited to the above steps, but may include alternative steps and additional steps, as would be understood by one of ordinary skill in the art from the description herein.

For one example, it may be desirable to vary the speed of movement of the mobile unit. Accordingly, method200may further include the step of determining a speed of the movement of the mobile unit. In an exemplary embodiment, the speed of movement of mobile unit110is determined based on the speed of the kicking or simulated walking motion performed by the user, or on the degree of movement of markers130by the user.

For another example, it may be desirable to receive more than one input from a user to control the movement of the powered orthosis system. Accordingly, method200may further include the step of detecting manipulation of a user interface. In an exemplary embodiment, the data processor detects movement of user interface150. When the user manipulates user interface150, the data processor may generate additional movement instructions for mobile unit110based on the manipulation of user interface150by the user. The instructions may include instructions to advance or retreat mobile unit110, or turn mobile unit110, based on a corresponding movement of user interface150by the user.