Systems and methods for changing modes of control

A system for controlling equipment according to different modes includes an input device configured to be engaged by a user and a control circuit coupled to the input device and configured to control operation of equipment based on engagement of the user with the input device. The control circuit controls operation of the equipment according to a first mode when the degree of engagement between the user and the input device is within a predefined range. The control circuit controls operation of the equipment according to a second mode different from the first mode when the degree of engagement between the user and the input device is outside of the predefined range.

BACKGROUND

The present disclosure relates generally to systems and methods for controlling equipment according to different modes of operation. More specifically, the present disclosure relates to controlling various types of equipment based on the degree of physical engagement or interaction of a user with a control member.

SUMMARY

One embodiment relates to a system for controlling equipment according to different modes, comprising an input device configured to be engaged by a user; and a control circuit coupled to the input device and configured to control operation of equipment based on engagement of the user with the input device; wherein the control circuit controls operation of the equipment according to a first mode when the degree of engagement between the user and the input device is within a predefined range; and wherein the control circuit controls operation of the equipment according to a second mode different from the first mode when the degree of engagement between the user and the input device is outside of the predefined range.

Another embodiment relates to a method of operating equipment in different modes, comprising determining whether a degree of physical engagement of a user with an input device is within a predefined range; controlling operation of equipment according to a first mode of operation based on a determination that the degree of engagement is within the predefined range; and controlling operation of the equipment according to a second mode of operation based on a determination that the degree of engagement is outside the predefined range.

Another embodiment relates to a vehicle, comprising a control member; a propulsion system configured to propel the vehicle; and a control system coupled to the control member and the propulsion system, the control system configured to control operation of the propulsion system based on user engagement with the control member; wherein the control system controls operation of the propulsion system according to a first mode when the degree of engagement of the user with the control member is within a predefined range; and wherein the control system controls operation of the propulsion system according to a second mode different from the first mode when the degree of engagement of the user with the control member is outside of the predefined range.

Another embodiment relates to a method of operating equipment in different modes, comprising controlling operation of equipment according to a first mode based on a degree of engagement of a user with an input device being within a predefined range; controlling operation of the equipment according to a second mode different from the first mode based on the degree of engagement of the user with the input device being outside the predefined range; determining that the degree of engagement of the user with the input device is maintained outside the predefined range for a predetermined period of time; and controlling operation of the equipment according to the second mode when the degree of engagement of the user with the input device is within the predefined range based on the degree of engagement of the user with the input device being outside the predefined range for the predetermined period of time.

Another embodiment relates to a system for controlling equipment using an input device, comprising a grip control configured for engagement with a user's hand; and a control system configured to control operation of equipment based on physical engagement of the user with the grip control; wherein the control system is configured to maintain the equipment in an inactive state based on the degree of engagement being within a normal usage range; and wherein the control system is configured to activate the equipment based on the degree of engagement being outside of the normal usage range.

DETAILED DESCRIPTION

Users can control various types of devices or equipment (e.g., vehicles such as automobiles and motorcycles, recreational vehicles such as snowmobiles, jet skis, etc. handicap-assist devices such as walkers, wheelchairs, etc., powered handicap-assist devices such as mobility scooters, etc.) through physical engagement with one or more control members, such as grip controls, pedals, and similar control members. For example, a driver of a car can depress an accelerator foot pedal, a driver of a motorcycle can rotate, or twist, a hand grip throttle control, etc. One or more sensors, such as a pressure sensor or position sensor, can be coupled to the control member and provide signals to a control system based on the physical engagement of the user with the control member (e.g., a pressure or force applied to the control member, a displacement of the control member, etc.). The control system can be configured to control operation of the equipment (e.g., throttle, brake system, etc.) accordingly.

In some cases, users may panic during operation of equipment (e.g., when an operator of a car suddenly encounters a road blockage, etc.) and react by physically engaging the control member to a degree outside of a normal range. For example, a driver of a car may unintentionally react to a nearby collision by suddenly fully depressing the accelerator pedal rather than engaging the brake, a motorcycle driver may react to a road blockage by suddenly twisting the throttle control, etc. As another example, a handicap-assist device, such as a wheeled walker, may include a grip portion intended to be grasped by a user to direct the wheeled walker. Should the user lose his or her balance, the amount of force applied to the grip may suddenly increase. In many cases, it may be desirable to control operation of the equipment (e.g., throttle, engine, brake, etc.) so as to avoid undesirable consequences due to sudden user reactions.

As such, various embodiments disclosed herein relate to systems and methods for controlling equipment based on the degree of physical engagement or interaction with a user input device or control member. The physical engagement may be a force or pressure applied to a control member, a displacement of the control member, or other interaction, such that the degree of engagement is defined by the amount of force, pressure, displacement, etc. In one embodiment, while the degree of physical engagement is within an acceptable range, the equipment is operated according to a first, or normal, operational mode. Should the degree of physical engagement of the user with the control member be outside of (e.g., above or below) the acceptable range, the equipment is operated according to a second, or safety, operational mode (e.g., a panic mode). The second mode may operate over a range of non-zero degrees of engagement according to various alternative embodiments (e.g., relatively low ranges and/or relatively high ranges of engagement outside of a normal operating range).

Operating in a safety mode can include various actions, including deactivating a device, turning off an engine or motor, maintaining a current operating state of equipment, and the like. Furthermore, the extent to which a system remains in a safety mode is in some embodiments variable based on a number of factors. For example, in one embodiment, a system is configured to remain in a safety or panic mode even when a degree of physical engagement returns to a normal range, in certain circumstances, including, for example, if the degree of physical engagement of the user with the control member is sustained outside of an acceptable range for a certain period of time (e.g., 2-3 seconds). In other embodiments, a system may return to a normal mode after a delay, even if the degree of physical engagement is outside of the acceptable range (e.g., in the case of a component fault, etc.). In further embodiments, the system returns to a normal mode after a delay after a degree of physical engagement returns to a normal range.

Referring now toFIG. 1, system10is shown according to one embodiment, and includes control member12, control system14, and equipment16. In one embodiment, control system14receives inputs from control member12, and controls equipment16accordingly. For example, control member12can receive inputs from users by way of physical engagement of the user with control member12, and based on the physical engagement of the user with control member12, can provide one or more control signals to control operation of equipment16.

System10can be any of a variety of systems utilizing a control member, control system, and equipment such as those disclosed herein. In some embodiments, system10can be a vehicle system including a throttle control member, a control system, and a throttle. Based on manipulation of the throttle control member, the control system sends appropriate control signals to the throttle. For example, a throttle control member can be implemented as an accelerator pedal, a grip throttle control, or another device. In other embodiments, system10can be usable with a wheelchair, a wheeled walker, or similar device, such that the control member can be a motor control, a brake control, or other control member configured to enable physical engagement by a user, and such that a control system controls appropriate equipment, such as an electric motor, a brake system, etc., based on user interaction with the control member.

According to various alternative embodiments, users can interact with control members in a variety of ways. For example, in some embodiments, a user can apply a force to a control member (e.g., in the case of a hand grip control, or a foot pedal). Additionally, a user can displace a control member through rotation, linear displacement, or combinations thereof. Referring toFIG. 2, various ranges of physical engagement (e.g., force, displacement, pressure, etc.) are schematically illustrated according to one embodiment. As shown inFIG. 2, the degree of physical engagement of a user with a control member increases along line18. First threshold20defines a lower limit of a normal, or acceptable, range of engagement24, and second threshold22defines an upper limit of the normal, or acceptable, range of engagement24.

In addition to range24, first and second thresholds20,22define lower range26(below first threshold20) and upper range28(above second threshold22). Lower range26and/or upper range28define ranges of interaction that may indicate a user is panicking, or otherwise interacting with a control member in an undesirable manner. In various embodiments, control system14is configured to control operation of a device or equipment based on the degree of physical engagement or interaction of a user with a control member. Control system14controls the equipment according to a first mode or protocol when the degree of physical engagement or interaction with the control member is within, for example, range of engagement24. Control system14controls the equipment according to a second mode or protocol when the degree of physical engagement of interaction is outside of range24, and falls within one of lower range26and upper range28. While the Figures generally show a single upper and a single lower threshold, according to various alternative embodiments, multiple upper and/or lower thresholds may be used to control equipment according to different secondary modes of control. For example, at a first threshold relative relatively closer to a normal range of interaction, the second mode may include a warning (e.g., an alarm, etc.), while at a second threshold relatively farther from the normal range of interaction, additional action is taken (e.g., a safety mechanism is actuated, etc.). Multiple levels of thresholds may be used according to various alternative embodiments.

In one embodiment, the first mode or protocol of operation (while the degree of physical engagement is within a normal range) provides for controlling the equipment in a manner generally proportional to the degree of engagement. For example, with various control members such as pedals, twistable grip controls, etc., the desired operation (e.g., accelerating, braking, etc.) is normally dependent upon the extent to which a pedal is depressed, a grip is rotated, etc. In other embodiments, control can be based on a stepped function, a monotonic function, or another manner of control. Should the degree of engagement fall outside of a normal range, operation of the equipment can be changed to the second mode or protocol (e.g., a safety mode).

In an alternative embodiment, the first mode or protocol of operation (while the degree of physical engagement is within a normal range) provides for maintaining equipment in a generally disengaged, or deactivated state, such that the equipment is engaged, or activated, only when the degree of physical engagement falls outside of the normal range. For example, various handicap-assist devices (wheeled walkers, wheelchairs, etc.) may be provided with a safety brake or other safety device (e.g., an airbag, etc.) that is normally inactive but is activated should a user, for example, suddenly grip a grip control or other control member (e.g., a brake release lever of a walker, etc.) with significantly increased force or pressure. As such, in some embodiments, the second mode of control is implemented in some embodiments by way of a separate (e.g., add-on, etc.) system (e.g., a safety brake of a walker, motorcycle, etc.) that is actuated by way of monitoring physical engagement with a primary control member (e.g., a brake release lever of a walker, a brake lever of a motorcycle, etc.). In one embodiment, the second mode of control is implemented as an add-on to an existing control system.

The second mode of operation can include various types of control. In one embodiment, the first mode of control includes maintaining equipment at a current operational state. In an alternative embodiment, the second mode of control includes deactivating equipment (e.g., an engine, a motor, etc.). In further embodiments, the second mode of control includes actuating a safety mechanism, alarm, or other device or system. In yet further embodiments, when the degree of engagement is below the normal range (e.g., within lower range26shown inFIG. 2), the second mode of control is based on a first sub-protocol, and when the degree of engagement is above the normal range (e.g., within upper range28shown inFIG. 2), the second mode of control is based on a second sub-protocol. The first and second sub-protocols can provide for the same or different types of control. According to yet further embodiments, the first and/or second modes or protocols of operation can take other forms and be triggered in other ways in order to suit a particular application or equipment.

In some embodiments, the upper and/or lower limits of the normal range are variable. For example, in some embodiments, the normal range is variable based on various sensed internal and/or external factors, such as vehicle speed, acceleration, traction, etc., road conditions, such as ice, wetness, etc., and the like. As such, in less desirable driving conditions (e.g., due to poor weather), a vehicle may trigger a second (e.g., safety) mode of control sooner (e.g., by using a smaller normal range of operation) than would otherwise happen under ideal driving conditions. In various alternative embodiments, the normal range may be based on one or more user parameters, such as historical data regarding the user's operation of equipment, one or more user inputs defining upper or lower limits for a normal range, an allowable deviation from a historical standard of engagement by the user (e.g., a set amount more or less than a previous maximum or minimum, etc.). The upper and lower limits of a normal range of operation may be based on other factors according to various other embodiments.

In yet further embodiments, the second mode of control is triggered by a rate of change in user interaction with a control member being outside of a normal range. For example, the second mode may be triggered based on a rate of change of actuation, or a rate of change in an actuating force. As such, sudden increases in grip force, pedal force, grip rotation, pedal deflection, etc. may further be used to trigger the second mode of operation.

Referring now toFIG. 3A, system10is shown in greater detail according to one embodiment. As noted above, system10includes control system14configured to control operation of equipment16based on signals received from control member12. In one embodiment, control member12includes sensor30configured to acquire input data regarding a physical engagement of a user with control member12. Control member12provides the input data to control system14. Control system14includes processor32and memory34. Control system14is configured to receive the input data from control member12and control operation of equipment16accordingly. Based on the input data, control system14may further control a user input/output device such as device36(e.g., a light, alarm, buzzer, etc.) or other systems38(e.g., emergency response systems, etc.).

Sensor30can be any of a variety of sensors configured to acquire data (e.g., input data) regarding the physical engagement or interaction of a user with control member12. In one embodiment, sensor30is or includes a force or pressure sensor configured to sense an applied force or pressure to control member12. In other embodiments, sensor30is or includes a position sensor configured to sense a movement or position of control member12, such as a degree of rotation, a distance of linear displacement, and the like. Combinations of sensors can be used according to various alternative embodiments. For example, in one embodiment, sensor30can include both a pressure or force sensor and a position sensor. Other types of sensors can sense other types of physical engagement of a user with control member12according to various other alternative embodiments. In some embodiments sensor30is configured to provide an indication of a threshold (e.g., an upper or lower limit of a normal range of operation) being exceeded (e.g., by way of an audible, visual, haptic, or other indication), which as disclosed elsewhere herein may be triggered based on historic data regarding a user.

Control system14(e.g., a processing circuit) includes processor32and memory34. Processor32may be implemented as a general-purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a digital-signal-processor (DSP), a group of processing components, or other suitable electronic processing components. Memory34is one or more devices (e.g., RAM, ROM, Flash Memory, hard disk storage, etc.) for storing data and/or computer code for facilitating the various processes described herein. Memory34may be or include non-transient volatile memory or non-volatile memory. Memory34may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described herein. Memory34may be communicably connected to processor32and provide computer code or instructions to processor32for executing the processes described herein.

Equipment16can include a wide range of equipment, including vehicle components, medical equipment or devices, and the like. For example, in one embodiment equipment16includes a power control (e.g., throttle device) for an engine (e.g., a vehicle engine). In another embodiment, equipment16can be or include a power control for an electric motor. In yet further embodiments, equipment16can be other types of equipment suitable for control via control system14based on physical engagement of a user with control member12(e.g., vehicle propulsion or brake systems, hydraulic systems, components of mechanical devices such as jackhammers, etc., and so on). Equipment16is configured to be controlled based on control signals received from control system14. The control signals are generated based on the input data received by control system14from control member12and sensor30.

Device36can include a variety of input and output devices configured to provide outputs to or receive inputs from a user. For example, in one embodiment, device36can include an indicator device configured to provide a user with an indication that the physical engagement of the user with a control member is outside of a normal range (e.g., range24shown inFIG. 2), or alternatively, within but approaching an upper or lower limit of the normal range. As such, device36can include a visual indicator device (e.g., a display device, a light, etc.), an audible indicator device (e.g., a speaker, alarm, buzzer, etc.), a tactile indicator device (e.g., a vibrating member, etc.), or combinations thereof. Other indicator devices can be used according to various other embodiments, including touch screens, electronic displays, etc.

Device36can also enable a user to provide various inputs to control system14. As such, in some embodiments device36includes one or more input devices such as a microphone, keyboard, touchscreen, etc. Device36can be usable to, for example, enable a user to provide an input to terminate a current mode of operation (e.g., a safety mode). Alternatively, device36can enable a user to provide inputs defining an acceptable range of engagement for a control member. Device36can receive other types of inputs according to various other alternative embodiments. Further, device36can be configured to receive and transmit data to/from one or more remote devices or systems.

In some embodiments, control system14is configured to control operation of or provide data to other systems38. Systems38can include additional systems coupled to control system14that may, for example, work in cooperation with equipment16, or alternatively, provide a type of safety mechanism should engagement with a control device be outside of a normal range. One example of systems38is a braking system that is usable in connection with a power control system for a vehicle or other device. The power control system may be controlled via a control member such as control member12(e.g., an accelerator pedal). Should a user's physical interaction with the accelerator pedal suddenly move outside of an acceptable range, the braking system can be activated to avoid sudden undesirable acceleration of the car (instead of or in addition to operating the power control system in a safety, or panic, mode). Alternatively, systems38can include one or more safety systems, such as an airbag system or other safety mechanism configured to be actuated or deployed based on the user's physical engagement with a control member. The physical interaction with the accelerator pedal can be determined using a sensor such as sensor30, which in various embodiments can be a position sensor (e.g., to detect the position of the pedal), a force or pressure sensor (e.g., to detect the amount of force or pressure being applied to the pedal), or another sensor.

While in some embodiments, control system14is configured to control operation of equipment16based on signals regarding a single control member such as control member12, in various other embodiments, control system14is configured to control operation of equipment16based on a variety of other factors, including additional sensors, additional control members, and/or other user or control inputs. For example, referring toFIG. 3B, system10is shown in greater detail according to an alternative embodiment. System10includes multiple control members12. One or more of control members12may include multiple sensors (e.g., sensors S1, S2, S3).

In some embodiments, control system14is configured to selectively control equipment16using either the first or second mode of control based on multiple sensors configured to sense data regarding a single control member. For example, control system14may receive force and position inputs from sensors30regarding a grip or pedal control and control operation of equipment16accordingly (e.g., in one of the first and second mode).

In other embodiments, data regarding multiple user inputs and/or multiple control members may be used to select one of the first and second modes of control. For example, control system14may receive data regarding a first control member (e.g., a left side brake lever) and a second control member (e.g., a right side brake lever), and control equipment16accordingly. Control system14may be configurable to use any combination of thresholds, such as requiring a degree of physical engage with only one of two control members to exceed a threshold to trigger the second mode, requiring the degree of physical engagement with both control members to exceed thresholds to trigger the second mode, requiring an aggregate (e.g., a sum of forces, etc.) of physical engagement with both control members to exceed a threshold to trigger the second mode, and the like. WhileFIG. 3Bshows two control members12, it should be understood that the teachings herein may be extended to more than two control members in a similar manner.

In yet further embodiments, control system14is configured to further selectively control equipment16in one of the first and second mode based on other control inputs, such as other input39. For example, in the case of a vehicle, operating conditions such as speed, acceleration, wheel traction, etc. may be taken into account. Further, external conditions such as road conditions, weather conditions, and the like may be taken into account. For example, control system14may take into account whether road traction is below a threshold level, whether the ambient temperature is outside a normal range, whether the vehicle speed is outside of a normal range, etc. According to various other embodiments, control system14mat take other factors into account in selectively controlling operation of equipment16in the first or second mode.

Referring toFIG. 4, an embodiment of a control member is shown as grip control40. Grip control40can be configured to provide control over various types of devices and equipment, including medical devices, handicap-assist devices, vehicles, and the like. Grip control40includes a grip42and a sensor44. Grip42is configured to enable a user to grasp grip control40. Sensor44is configured to sense the degree of physical interaction with grip control40. In one embodiment, sensor44is integrated into and forms a part of the surface of grip control40. In other embodiments, sensor44can be provided in other locations to measure various forces, pressures, or movements related to grip control40. Sensor44provides input signals to a control system such as control system14based on the user's physical engagement with grip control40.

In one embodiment, grip control40is generally fixed relative to a larger device, as in the case of a grip control for a wheeled walker or similar device. As such, sensor44can be configured to measure the force applied to grip control40as the user manipulates (e.g., steers, pushes, etc.) a wheeled walker or other device along a desired path, or uses a wheeled walker to move between sitting and standing positions, etc. In another embodiment, grip control40is configured to be moved via physical engagement by a user to provide inputs to a control system. For example, as shown inFIG. 4, grip control40can be rotated about longitudinal axis47and along arrow48, or alternatively, grip control40can be pivoted about a pivot point such as pivot point49and along arrow46. Other types of movement for grip control40are possible according to various other embodiments.

Referring toFIG. 5, a handicap-assist device60is shown according to one embodiment and includes grip portion62, control system64, and safety brake66. Grip portion62can include any of the features of control member12and/or grip control40discussed herein, and is configured to enable a user to move device60, or to use device60as support when, for example, moving between sitting and standing positions, etc. Grip portion62provides input signals to control system64, which in turn controls operation of a safety brake system66accordingly. For example, in one embodiment, as long as the force or pressure applied to grip portion62is within an acceptable range, control system64maintains safety brake66in a disengaged state, such that a user can freely move device60. However, should the force or pressure on grip portion62move outside of the acceptable range, control system64engages safety brake66to stabilize or prevent movement of device60.

In an alternative embodiment, device60can further include safety mechanism68. In addition to engaging safety brake66, control system64can be further configured to actuate safety mechanism68should the force or pressure on grip portion62move outside of the acceptable range. Safety mechanism68can be an airbag or other device configured to enhance the safety of a user of device60. Alternatively, safety mechanism68can be or include an output device (e.g., similar to output device36) configured to provide an alert or alarm (e.g., a visual, audible, or tactile indication) based on the force or pressure on grip portion62moving outside of the acceptable range.

Referring toFIG. 6, an alternative embodiment of a control member is shown as pedal50. Pedal50can be configured to provide control over various types of devices and equipment, including vehicles such as automobiles. Pedal50includes a pedal member52and sensor54. Pedal member52is configured to enable a user to depress pedal50by way of a user's foot. Sensor54is configured to sense the degree of physical interaction with pedal50. In one embodiment, sensor54is integrated into and forms a part of the surface of pedal50. In other embodiments, sensor54can be provided in other locations to measure various forces, pressures, or movements related to pedal50. Sensor54provides input signals to a control system such as control system14based on the user's physical engagement with pedal50. In one embodiment, pedal50is configured to be moved via physical engagement by a user. For example, as shown inFIG. 6, pedal50can be rotated along arrow56. Other types of movement for pedal50are possible according to various other embodiments.

Referring toFIG. 7, a vehicle70(e.g., an automobile, truck, bus, etc.) is shown according to one embodiment and includes pedal72, control system74, and engine76. Pedal72can include any of the features of control member12and/or pedal50discussed herein, and is configured to enable a user to control operation of engine76while driving vehicle70. Pedal72provides input signals to control system74, which in turn controls operation of engine76(e.g., including a throttle) accordingly. In one embodiment, as long as the engagement with pedal72is within an acceptable range, control system74operates engine76according to a first, or normal mode, such that a user can operate vehicle70normally. However, should the engagement with pedal72move outside of the acceptable range (e.g., in terms of the position of the pedal or in terms of the force or pressure applied to the pedal, or both), control system74controls operation of engine76according to a second, or safety mode (e.g., such that the engine is maintained at a constant operating speed, the engine is operated at an idle, etc.).

In an alternative embodiment, vehicle70further includes brake system78and safety mechanism79. In addition to operating engine76in a safety mode, control system74can be further configured to actuate brake system78and/or safety mechanism79should the engagement with pedal72move outside of an acceptable range. Safety mechanism79can be an airbag or other device configured to enhance the safety of a user of vehicle70. Alternatively, safety mechanism79can be or include an output device (e.g., output device36) configured to provide an alert or alarm (e.g., a visual, audible, or tactile indication) based on the degree of engagement with pedal72moving outside of the acceptable range.

It should be understood that while vehicle70is shown inFIG. 7as being an automobile, according to various other embodiments, vehicle70can take other forms, including motorcycles, trucks, trains, buses, aircraft, watercraft, and the like. Likewise, in addition to use of a pedal as a control member, other types of control members can be utilized, including hand-operated control members, such as twist grips, knobs, levers, steering wheels, and the like.

Referring now toFIG. 8, method80of controlling equipment is shown according to one embodiment. An input is received (82), for example, by way of a control member. The control member can take any suitable size or shape, and can include a sensor configured to sense the physical interaction of a user with the control member. The degree of physical interaction of the user with the control member is determined (84), for example, based on signals received from one or more sensors. The degree of physical interaction or engagement can be measured in a variety of ways, including an applied force or pressure, a displacement (e.g., rotational, linear, etc.), and the like. In some embodiments, the degree of engagement is determined through the use of multiple sensors over different ranges of or types of engagement, which may or may not overlap. For example, a pedal, handgrip, or similar device may be movable between one or more stops. A first sensor may measure the degree of displacement (e.g., angular, linear, etc.) of the device, while a second sensor may measure a force applied to a stop by the device (e.g., at maximum displacement). As such, the degree of engagement may be determined by multiple sensors, including displacement, force, and other types of sensors.

A determination is made as to whether the degree of physical engagement or interaction is within a predefined range (86). The predefined range is typically defined by upper and lower thresholds, which in some embodiments can be customized by a user.

If the degree of physical interaction or engagement is within the predefined range, the equipment is operated according to a first or normal mode of operation (88). The first mode of operation can include operating equipment in a manner proportional to the degree of engagement with a control member, or alternatively, can include maintaining equipment in a disengaged or inactive state. If the degree of engagement is outside of the predefined range, the equipment is operated according to a second, or safety mode (89). The second mode of operation can include modifying operation of the equipment relative to the first mode, or alternatively, activating or engaging equipment (from a disengaged or deactivated state). The second mode of operation can further include activating other systems (e.g., safety systems, alert systems, etc.). The method shown inFIG. 8can be performed on a generally continuous basis and the mode of operational control changed accordingly based on, for example, changing user interactions with a control member.

Referring toFIG. 9, method90of controlling equipment is shown according to another embodiment. A first input is received (92), for example, by way of a control member. The control member can take any suitable size or shape, and can include a sensor configured to sense the physical interaction of a user with the control member. The degree of physical interaction of the user with the control member is determined (94), for example, based on signals received from one or more sensors. The degree of physical interaction or engagement can be measured in a variety of ways, including an applied force or pressure, a displacement (e.g., rotational, linear, etc.), and the like. A determination is made as to whether the degree of physical engagement or interaction is within a predefined range (96). The predefined range is typically defined by at least one of an upper and lower (non-zero) threshold, which in some embodiments can be customized by a user. In some embodiments, the predefined range may defined using any suitable terms. For example, in the case of multi-axis controls such as joysticks, etc., the predefined range may be defined in terms of radial displacement from a primary axis, a force against a joystick stop, etc.

If the degree of physical interaction or engagement is within the predefined range, the equipment is operated according to a first or normal mode of operation (92). The first mode of operation can include operating equipment in a manner proportional to the degree of engagement with a control member, or alternatively, can include maintaining equipment in a disengaged or inactive state. If the degree of engagement is outside of the predefined range, the equipment is operated according to a second, or safety mode (97). The second mode of operation can include modifying operation of the equipment relative to the first mode, or alternatively, activating or engaging equipment (from a disengaged or deactivated state). The second mode of operation can further include activating other systems (e.g., safety systems, alert systems, etc.).

After the degree of physical interaction of the user with the control member is determined to be outside of a predefined range, a second input is received (98). The second input can be based on further physical engagement or interaction with a control member. A determination is made as to whether the degree of physical engagement or interaction based on the second input is back within the predefined range (100). If the degree of physical interaction or engagement is maintained outside the predefined range, the equipment is maintained in the second mode (97).

If the degree of physical interaction or engagement is within the predefined range, a determination is made as to whether the degree of physical engagement with the control member has been outside of the predefined range for a period of time (T) more than a threshold period of time (T max) (102). The threshold period of time can be any suitable time period (e.g., 2 or 3 seconds, etc.), and in some embodiments can be customizable by the user. If the degree of physical engagement with the control member has been outside of the predefined range for more than the threshold period of time, control of the equipment is maintained in the second mode (97), even though the current degree of physical engagement with the control member may be within the predefined range. If the degree of physical engagement with the control member has been outside of the predefined range for less than the threshold period of time, operation of the equipment is changed to the first mode (104).

The method shown inFIG. 9provides for maintaining equipment in a safety mode of operation based on a user's degree of physical interaction or engagement with a control member being outside of a normal, or acceptable, range for a threshold period of time, even if the user subsequently modifies his or her interaction with the control member to be within the acceptable range. In some embodiments, the equipment is locked in the safety mode until a release input (e.g., an external reset) is received. The release input can be received by way of deactivating the equipment, by way of an input device such as device36(seeFIG. 3) configured to receive touch, audible, or other inputs, or by way of a physical manipulation by the user (e.g., to physically release a safety mechanism such as a brake, etc.). In some embodiments the release input is triggered automatically after a predetermined period of time (e.g., such that a normal mode of operation is restored 5 seconds after the engagement returns (and remains within) a normal range, etc.).

Referring toFIG. 10, method110of controlling equipment is shown according to one embodiment. A first input is received (112), for example, by way of a control member. The control member can take any suitable size or shape, and can include a sensor configured to sense the physical interaction of a user with the control member. A second input is received (114). The second input can be a second input regarding the same control member, a second input regarding a different control member, a second input regarding other control inputs (e.g., equipment operating parameters, operating conditions, etc.). For example, multiple inputs may be received regarding a steering wheel and an accelerator of a car, such that the car is placed into a safety mode if the user squeezes the steering wheel and slams the accelerator pedal. Alternatively, multiple inputs may be received regarding right and left brake levers, such that if both are squeezed simultaneously, a safety mode is triggered (e.g., for a walker device, etc.). The degree of physical interaction of the user with the control member(s) is determined (84) based on the first and/or second inputs. The degree of physical interaction or engagement can be measured in a variety of ways, including an applied force or pressure, a displacement (e.g., rotational, linear, etc.), and the like. A determination is made as to whether the degree of physical engagement or interaction is within a predefined range (116). The predefined range is typically defined by upper and lower thresholds, which in some embodiments can be customized by a user.

If the degree of physical interaction or engagement is within the predefined range, the equipment is operated according to a first or normal mode of operation (118). The first mode of operation can include operating equipment in a manner proportional to the degree of engagement with a control member, or alternatively, can include maintaining equipment in a disengaged or inactive state. If the degree of engagement is outside of the predefined range, the equipment is operated according to a second, or safety mode (120). The second mode of operation can include modifying operation of the equipment relative to the first mode, or alternatively, activating or engaging equipment (from a disengaged or deactivated state). The second mode of operation can further include activating other systems (e.g., safety systems, alert systems, etc.). The method shown inFIG. 10can be performed on a generally continuous basis and the mode of operational control changed accordingly based on, for example, changing user interactions with a control member. Further, whichFIG. 10is shown with first and second inputs, the mode of control can be selected based further on additional inputs according to various alternative embodiments.