Artificial limb for host assistance

System, methods, and other embodiments described herein relate to a device for providing mobility assistance to a user. In one embodiment, a mobility system includes a support component including at least a waist device that is configured to secure the mobility system to the user at a waist area of the user. The mobility system includes a limb attached to the support component and extendable from the support component to a floor when the user is in a standing position. The limb is configured to support the user by providing a rigid structure between the floor and the user. The limb is configured to assist the user in transitioning from a seated position to the standing position by applying a substantially upward force to the user through the support component when transitioning to the standing position.

TECHNICAL FIELD

The subject matter described herein relates in general to an artificial limb and, more particularly, to a prosthetic tail that assists a host through improving mobility and supporting further tasks.

BACKGROUND

Injuries, diseases, aging, and other ailments can temporarily or permanently limit the mobility of individuals. The loss of mobility to an individual is one factor that can greatly affect general well-being beyond the specific ailments that cause the original mobility limitations. Present solutions for attempting to improve mobility are generally cumbersome and lack overall usability. For example, wheelchairs may improve mobility, in some circumstances, but are generally limited to uses in buildings and other areas that are handicap accessible, which generally do not include most residences. Moreover, even when a building is accessible to a wheelchair, often times aspects approaching the building such as curbs, stairs, vehicle access, and so on represent significant obstacles. Additionally, wheelchairs provide only seated positions for the user and do not provide support for upright positions, which further limits overall mobility.

Other devices designed to improve mobility such as crutches, canes, and walkers also present difficulties. For example, these devices are generally passive and, thus, rely on an individual's own sense of balance, which may be limited. Moreover, such devices also don't facilitate movement into an upright position or provide assistance with limitations to an individual's reach or support other movements. Accordingly, presently available devices that provide mobility assistance generally encounter limitations on usability.

SUMMARY

Example systems and methods are disclosed herein that relate to a mobility support device for facilitating movement of a host. For example, in one aspect, the present disclosure describes a prosthetic tail. The tail can be worn by a host and is generally secured to the host using at least a belt type of harness. In further aspects, the tail can also include a seat, a spinal support, a chest harness, and so on. In general, the tail can be used by individuals with a range of ailments. Therefore, the tail can include various configurations for supporting a host in order to ensure that the tail is sufficiently secure to provide the appropriate support.

The tail/limb itself can take multiple different forms. For example, in one approach, the limb is a fully articulated tail that is comprised of a plurality of tail members that resemble caudal vertebrae of an analog animal tail. That is, the limb includes a series of tail members resembling bones with each tail member being joined to an adjacent tail member at an integrated joint. In one embodiment, the joints between the tail members can be controlled to selectively articulate, and thus the limb can be controlled to move in at least one degree of freedom. In further aspects, the limb may be highly articulated, and the joints may provide for rotational movement through three degrees of freedom. Thus, the limb itself moves in a similar style as a feline or monkey tail. However, the limb generally functions to support the host through contacting the ground/floor and providing an upward and/or lateral force to the host. Thus, the limb extends from the host at a lower back or base of the spine area to the floor.

In further aspects, instead of being constructed from the tail members, the limb is comprised of two or more joints connected via supporting members. Thus, by way of analogy, the limb may resemble more of a human arm than a tail. However, the limb is still attached near a base of the spine. In such a case, the limb is comprised of at least, for example, a base joint, a base member, a mid-joint, and a lower member. Continuing with the arm analogy, the base joint generally corresponds to a shoulder joint, the base member generally corresponds to an upper arm, the mid-joint generally corresponds to an elbow, and the lower member generally corresponds to the forearm. Of course, while the limb is described in the context of an arm, the limb is, nevertheless, attached at the base of the spine of the host in order to provide support with standing, sitting, and walking movements. As a further aspect, the disclosed joints can include ratcheting mechanisms to provide for a mechanical means of extending the limb and exerting an upward force on the host while resisting folding/flexing movement.

Moreover, in further aspects, the limb folds and stows against a back of the host. Additionally, the limb can be controlled to assist with holding items for the host such as drinks, laptops, and so on. Furthermore, the limb can maneuver to reach items out of a reach of the host. In either case, additional aspects of the limb include, in one embodiment, hydraulic controls for movement of the limb, electronic controls for movement of the limb, a processor and control modules, and other aspects related to providing powered control of the limb. In one embodiment, the mobility system includes sensors that provide real-time information for controlling the limb. For example, the mobility system can acquire the sensor data and then analyze the sensor data to identify assistance events, which are occurrences within the surrounding environment relating to the movement of the host for which the host may need assistance in moving. Thus, as the mobility system anticipates the assistance events, the mobility system identifies assistance movements for the limb that improve movement of the host. The assistance movements can include such maneuvers as extending the limb to provide upward force and facilitate standing, moving in a particular direction to improve the balance of the host, assisting with downward sitting movements, and so on. Alternatively, or additionally, the mobility system can execute movements at the request of the user that are requested via voice, gesture or another input method. In either case, the disclosed limb provides for improving the mobility of the host through supporting the host and providing assistance in moving.

In one embodiment, a mobility system for improving the mobility of a user is disclosed. The mobility system includes a support component including at least a waist device that is configured to secure the system to the user at a waist area of the user. The mobility system includes a limb attached to the support component and extendable from the support component to a floor when the user is in a standing position. The limb is configured to support the user by providing a rigid structure between the floor and the user. The limb is configured to assist the user in transitioning from a seated position to the standing position by applying a substantially upward force to the user through the support component when transitioning to the standing position.

In one embodiment, a method of improving mobility of a user through use of a prosthetic limb attached to the user is disclosed. The method includes collecting environmental sensor data about surroundings of the user and movement sensor data about a present position and trajectory of the user. The method includes analyzing the environmental sensor data and the movement sensor data to determine whether an assistance event for actively assisting the user is imminent. The method includes identifying an assistance movement for the limb associated with the assistance event. The method includes controlling the limb to maneuver according to the assistance movement to assist the user and improve mobility of the user.

In one embodiment, a prosthetic device for improving mobility of a user is disclosed. The prosthetic device includes a support component including at least a waist device that is configured to secure the prosthetic device to the user at a waist area of the user. The prosthetic device includes a limb attached to the support component. The limb includes a base joint that is connected with the support component and that is configured to pivot through at least one degree of freedom in order to move the limb toward and away from the user. The limb includes a base member connected with a pivoting point of the base joint. The base member is a rigid structure extending from the base joint. The limb includes a mid-joint that is connected with a distal end of the base member away from the pivoting point of the base joint. The mid-joint is configured to pivot through at least one degree of freedom that includes a same plane of movement as the base joint. The limb includes a lower member that is a rigid structure connected with the mid-joint and extending from the mid-joint such that the lower member pivots about the mid-joint. The limb is configured to support the user by providing a rigid structure between the floor and the user. The limb is configured to assist the user in transitioning from a seated position to the standing position by applying a substantially upward force to the user through the support component when transitioning to the standing position.

DETAILED DESCRIPTION

Systems, methods and other embodiments associated with improving the mobility of a user via an attached prosthetic limb are disclosed herein. As mentioned previously, wheelchairs and other mobility assistance devices for individuals with ailments and other mobility limitations are limited by an extent to which the noted devices can assist an individual. That is, for example, the particular devices are generally focused on helping the individual move between locations while otherwise not considering additional aspects such as standing, reaching, balance, and so on. Moreover, as one example, while wheelchairs can assist with moving around a location, the location itself must generally be wheelchair accessible and thus accessing the location can present difficulties for wheelchairs.

Accordingly, in one embodiment, a mobility system includes a prosthetic limb that attaches to a host/user and provides assistance in the form of support when transitioning between sitting and standing positions. In general, the prosthetic limb attaches to the user at the base of the spine of the user in a location reminiscent of a tail. Thus, by way of analogy, the limb may be thought of as a prosthetic tail. Accordingly, in various embodiments, the limb can be implemented in different forms. For example, the limb can have many independent tail members akin to caudal vertebrae of an animal tail.

In an alternative implementation, the limb may have fewer joints (e.g., 2-3) and be formed from fewer structural members (e.g., 2-3). Accordingly, the limb may have a form that is similar to an arm. In either case, the limb of the mobility system is implemented to provide mobility assistance to a user through providing support and/or assistive force in the movement for a user transitioning between a seated position and a standing position. Moreover, the mobility system, in one embodiment, provides balance support by, for example, generating movements of the limb to counteract imbalance. In still further aspects, the limb provides a simple support for a user to rest when standing.

Additionally, the limb can be implemented to provide for active assistance by anticipating trips, falls, and other movements for which the limb can maneuver in a manner so as to avert a fall, or at least mitigate a potential hazard. In further aspects, the mobility system controls the limb to provide grasping assistance through reaching and grabbing overhead items, holding items, carrying items, and so on. In this way, the limb is implemented to improve mobility of a user through dynamic assistance with various tasks while avoiding difficulties of the existing modes of assistance as previously outlined.

The mobility system achieves the noted benefits through multiple different possible configurations. For example, the limb can be implemented as a passive system using manual mechanically ratcheting joints in one approach. By contrast, in further approaches, the limb can include powered movement through hydraulic mechanisms, pneumatic mechanisms, and/or electric motors. Moreover, the mobility system can include an array of sensors for detecting aspects of a surrounding environment and aspects of the host (e.g., balance, trajectory, etc.). In still further aspects, the mobility system can include active grasping mechanisms, attachments for holding objects, and so on. Thus, the mobility system leverages many different aspects of the limb in order to improve mobility of a user.

Referring toFIG. 1, an example of mobility sub-systems100for a prosthetic limb are illustrated. While arrangements will be described herein with respect to the mobility system170and the sub-systems100, it will be understood that embodiments are not limited to the noted arrangement of the sub-systems100. In some implementations, the sub-systems100may be any arrangement of components that, for example, may be needed to implement the noted aspects.

It will be understood that in various embodiments it may not be necessary for the sub-systems100to include all of the elements shown inFIG. 1. The sub-systems100can have any combination of the various elements shown inFIG. 1. Further, the sub-systems100can have additional elements to those shown inFIG. 1. In some arrangements, the sub-systems100may be implemented without one or more of the elements shown inFIG. 1. Further, while the various elements are shown as being located within the sub-systems100inFIG. 1, it will be understood that one or more of these elements can be located external to the sub-systems100. Further, the elements shown may be physically separated by large distances.

In either case, the sub-systems100include the mobility system170that is implemented to perform methods and other functions as disclosed herein relating improving mobility of a user through use of an additional prosthetic limb (e.g., tail). The noted functions and methods will become more apparent with a further discussion of the figures. As an initial note, a structure of the limb is discussed subsequent to the functional aspects of the system and method ofFIGS. 2 and 3. However, it should be appreciated that the disclosed functionality is generally applicable to the separate forms of the limb as will be discussed subsequently.

With reference toFIG. 2, one embodiment of the mobility system170ofFIG. 1is further illustrated. The mobility system170is shown as including a processor110from the sub-systems100ofFIG. 1. Accordingly, the processor110may be a part of the mobility system170, the mobility system170may include a separate processor from the processor110of the sub-systems100or the mobility system170may access the processor110through a data bus or another communication path. In either case, the processor110is illustrated as part of the mobility system170for purposes of explanation. Additionally, in one embodiment, the mobility system170includes a memory210that stores a monitoring module220and a reaction module230. The memory210is a random-access memory (RAM), read-only memory (ROM), a hard-disk drive, a flash memory, or other suitable memory for storing the modules220and230. The modules220and230are, for example, computer-readable instructions that when executed by the processor110cause the processor110to perform the various functions disclosed herein.

Accordingly, in one embodiment, the monitoring module220generally includes instructions that function to control the processor110to acquire sensor data250. As an initial note, as used herein sensor data250is used to generally refer to both environmental sensor data and movement sensor data. Thus, the monitoring module220generally acquires the sensor data250from a camera126, a sonar125, a LIDAR124, a radar123, and/or another sensor integrated with the sub-systems100. Moreover, the monitoring module220may also acquire information from an IMU, one or more gyros, host monitoring sensors (e.g., heart rate monitors, etc.), extremity tracking sensors that indicate host extremity position information (e.g., arm positions, leg positions, etc.), information from a mobile phone or other device in use by a host, and so on. In further aspects, the monitoring module220controls multiple ones of the noted sensors that are embedded with the sub-systems100.

In either case, the monitoring module220collects and stores the two sets of data as the sensor data250in database240. The database240is, for example, an electronic data structure stored in the memory210or another electronic data store and that is configured with routines that can be executed by the processor110for analyzing stored data, providing stored data, organizing stored data, and so on. Thus, in one embodiment, the database240stores data used/provided by the modules220and230in executing various functions. In one embodiment, the database240includes the sensor data250and a deep learning model260. Additionally, while the sensor data250and the deep learning model260are illustrated as being stored within the database240, it should be understood that in various embodiments the sensor data250and/or the deep learning model260can be stored in the memory210, integrated within one or more data structures of the monitoring module220and/or the reaction module230, and so on.

In either case, the monitoring module220generally includes computer-executable instructions to analyze the sensor data250using the deep learning model260. Accordingly, the monitoring module220, in one embodiment, provides the sensor data250as an electronic input into the deep learning algorithm260which produces an indication about whether an assistance event for actively assisting the user is imminent. That is, the deep learning algorithm260correlates the provided sensor data250to determine whether the limb should be controlled to assist the user. By way of example, the monitoring module220can implement the deep learning model260to identify when the user is attempting to transition into a standing position, into a seated position, leaning to relax, is off-balance, needs assistance with relieving weight from a leg during locomotion, or any other circumstance for which the limb is capable of providing assistance.

As for the deep learning algorithm260itself, the monitoring module220includes routines, data structures, data and other aspects that implement the deep learning algorithm260. Thus, in one or more embodiments, the deep learning algorithm260is at least partially embodied by instructions of the monitoring module220. Furthermore, the deep learning algorithm260is, for example, a convolutional neural network (CNN), a recurrent neural network (RNN), a long short-term memory (LSTM) neural network, or another suitable machine learning approach that can use the sensor data250to characterize movements of the user, aspects of the surroundings, and other factors to determine an imminence of a particular assistance event.

Thus, in one embodiment, the monitoring module220feeds the sensor data250into the deep learning algorithm260in order to generate a determination of an assistance event as an output. Moreover, the reaction module230generally includes computer-executable instructions to identify from the determined assistance event an assistance movement for the limb that improves mobility of the user. Thus, the reaction module230, in one embodiment, identifies an assistance movement that correlates with the assistance event. In one embodiment, the assistance movement is a movement of the limb that facilitates mobility of the user.

For example, the assistance movement can include extending the limb to push upward against the user to facilitate transitioning to a standing position, slowly releasing tension from an extended position to a retracted position to facilitate sitting, locking in a fully extended configuration to provide a leaning support, tracking one leg to relieve weight from the leg when walking/standing, moving to improve balance, moving to mitigate a trip or a fall, and so on. Moreover, the mobility system170can control the limb to execute secondary assistance movements such as reaching overheard to grasp objects for the user, reaching around to hold objects in front of the user, pushing objects (e.g., doors) in front of the user, and so on.

Additional aspects of controlling the limb will be discussed in relation toFIG. 3.FIG. 3illustrates a flowchart of a method300that is associated with using audio data to identify objects. Method300will be discussed from the perspective of the mobility system170ofFIGS. 1 and 2. While method300is discussed in combination with the mobility system170, it should be understood that the method300is not limited to being implemented within the mobility system170, but is instead one example of a system that may implement the method300.

At310, the monitoring module220collects environmental sensor data about surroundings of the user and movement sensor data about a present position and trajectory of the user. In one embodiment, the monitoring module220stores the collected information as the sensor data250in the database240or another suitable electronic data store. In general, the monitoring module220controls sensors of the sensor system120to collect the sensor data250. In further aspects, the monitoring module220communicates with secondary or remote sensors that are not directly controlled or integrated with the limb. For example, the monitoring module220communicates with a mobile smartphone of the user to acquire information from sensors within the smartphone about the user and the surroundings. Additionally, the monitoring module220can acquire information from other devices of the user such as smartwatches, fitness sensors, head-mounted displays (e.g., glasses), heart rate monitors, and so on. In general, the monitoring module220functions to acquire any available information in real-time that can further inform awareness about the user and a surrounding environment of the user. Thus, whether sensors are integrated with the limb as in the case of the limb sensors121and the environment sensors122or are remote from the limb but can provide useful information, then the monitoring module220can acquire the information in order to improve the analysis as discussed subsequently.

At320, the monitoring module220analyzes the environmental sensor data and the movement sensor data to determine whether an assistance event for actively assisting the user is imminent. In one embodiment, the monitoring module220analyzes the sensor data250to determine the presence of obstacles and other features surrounding the user that affect an ability of the user to move. Thus, the monitoring module220, for example, analyzes the sensor data250to characterize movements of the user and to anticipate when the user may need to be assisted. The monitoring module220, in one embodiment, can characterize the sensor data250to determine an occurrence of circumstances that define an assistance event. An assistance event can include many different types of events but generally includes circumstances that influence the mobility of the user.

By way of example, the assistance event can include changing positions between seated and standing, walking up stairs, walking down stairs, bending at a waist, reaching, leaning, tripping, and so on. Moreover, additional assistance events can include providing assistance to the user through grasping items, shifting weight from an injured leg, holding objects, opening doors, reaching for objects overhead, and so on. Thus, at least some of the movements of the limb can be initiated through an active control signal provided by the user.

In either case, the monitoring module220analyzes the sensor data250, in one embodiment, using a deep learning model260or other machine learning model that indicates when the assistance event is imminent. Thus, the monitoring module220can determine when an assistance event is to occur or is occurring by using the deep learning model260to characterize the sensor data250.

At330, the reaction module230determines whether a resulting analysis of the sensor data250indicates an assistance event. If there is no assistance event, then the mobility system170continues to monitor for an occurrence. However, if the reaction module230determines that results of the previous analysis at320indicate an assistance event is occurring or about to occur, then the reaction module230proceeds at330by, for example, identifying an assistance movement for the limb associated with the assistance event. In one aspect, the monitoring module220may indicate which movement is appropriate for the particular assistance event or aspects of the assistance event that are relevant to the assistance movement (e.g., a location of an obstacle, etc.).

Thus, the reaction module230, in one aspect, uses at least an identifier of the assistance event to lookup a corresponding assistance movement. In further aspects, the reaction module230can also provide additional information such as a present trajectory, and so on in order to identify the particular assistance movement that is to be executed. In a further aspect, the reaction module230simply monitors for a control signal from the user to initiate a movement. For example, the reaction module230can detect when a user performs a particular gesture indicating a desired movement, provides voice inputs specifying a movement, provides control inputs through an input system130, provides wireless communications via a remote interface on a mobile phone or other device indicating a movement, and so on.

At340, the reaction module230controls the limb to maneuver according to the assistance movement. In one embodiment, the reaction module230provides electronic control signals to electric motors, hydraulic valves/pumps, and/or other components that cause the limb to move in accordance with the assistance maneuver.

As previously noted, the assistance movements can generally include any movements of the limb that support mobility of the user. Thus, the assistance movements generally include movements similar to a cane or other support device in addition to more active assistance movements such as actively providing an upward force for transitioning into a standing position, providing support when transitioning to a seated position, providing balance support, securing a user through grasping handrails, and so on. In this way, the mobility system170improves the mobility of the user through controlling the limb to actively assist the user.

Attention will now be provided to the structure of the limb along with different configurations of the limb and the mobility system170. Accordingly,FIG. 4illustrates one embodiment of a limb400that is associated with improving mobility of a user. The limb400is one example of a limb that can be implemented with the mobility system170. InFIG. 4, the limb400is illustrated in isolation without additional aspects of the mobility system170such as a support component. In either case, the limb400includes a base joint410, a base member420, a mid-joint430, a lower member440, a lower joint450, and a foot460.

In general, the base joint410is connected with the noted support component which is not illustrated, but also provides for movement of the limb400in a rotational manner toward and away from the user. Thus, the base joint410provides for rotating the limb400in an arc behind the user. The base member420extends from the base joint410to the mid-joint430and provides rigid support therebetween. Moreover, in one or more implementations, the base member420is hollow and serves as a conduit for carrying electrical connections, hydraulic connections, and other such utility aspects between components of the limb400.

The mid-joint430generally functions in a similar manner as the base joint410. A zoomed cross-sectional view of the mid-joint is also provided along withFIG. 4. As illustrated, the mid-joint430includes a gear470that is engaged by the base member420and the lower member440via respective pawls480and490. In general, the gear470and the pawls480and490make up a ratcheting mechanism of the mid-joint430. While illustrated with two pawls480and490, in further aspects, the ratcheting mechanism may include just one of the pawls480and490. The ratcheting mechanism is one example of a mechanical joint that is implemented in the base joint410, the mid-joint430, and the lower joint450in various implementations. Of course, the joints410,430, and450, in further embodiments, can also be implemented using different types of joints. As an additional aspect, the joints410,430,450can include springs to resist flexion and facilitate extension.

Moreover, the joints410,430,450can be manually controlled to release and ratchet via, for example, a pull cable. In further aspects, the joints410,430,450can be electronically controlled via the mobility system170and thus the ratchet, for example, can act as a safety mechanism. As an additional note, while the joints410,430, and450, are generally discussed as moving through one degree of freedom that includes a plane of movement perpendicular to the user, the joints410,430, and450, in one embodiment, pivot through two or more degrees of freedom to provide a greater range of motion. Moreover, the joints410,430, and450may pivot in different degrees of freedom in one more embodiments. Furthermore, the limb400includes the lower member440extending from the mid-joint430. The lower member440is similar in construction to base member420. That is, the lower member440is, for example, also hollow.

As a further matter, the base member420and the lower member440may have a generally cylindrical shape. Additionally, the limb400and primarily the members420,440, and460are comprised of lightweight materials such as carbon fiber, an alloy metal, a composite material, or another material or combination of materials that are lightweight and provide appropriate strength to support the user. Continuing with the limb400, the lower member440is connected with the lower joint450. The lower joint450connects with the foot460. The foot460, in one embodiment, braces the limb400against the ground/floor. Thus, the foot460may include a non-slip coating where the foot460interfaces with the ground to provide the limb400from slipping out from under the user.

In further aspects that will be discussed in greater detail subsequently, the foot460includes attachment points for modular attachments such as wider feet, a grasper, trays, or other structures. Moreover, the foot460may also include an integrated grasper that is configured through the foot460splitting into two separate halves.

Continuing with various implementations of the limb,FIG. 5illustrates an articulated limb500. As an initial matter, it should be noted that the limb500is illustrated in part and has omitted a connection point with a support component that attaches to the user and also a foot (i.e., foot460) or other end attachment. In either case, the limb500can generally be substituted for elements410-450of the limb400. The articulated limb500includes a plurality of tail members510a-t. As shown, the limb500includes approximately twenty tail members but may include a different number (e.g., more or fewer) depending on a particular implementation.

In either case, the tail members510are connected together at integrated joints that generally provide for multiple degrees of freedom in movement. Accordingly, the tail500can move through multiple planes in addition to the X-Y plane of the limb400. For example, because each of the tail members510can articulate in multiple different directions independently, the tail500can be controlled to move with a high dexterity to perform many different tasks. Thus, the tail500can move around the user to hold objects, and perform other tasks while also providing for assistance with transitioning between standing and sitting. Moreover, the tail500can form additional shapes (e.g., semi-circular) using the freedom of movement from the joints in order to hold objects, and so on.

While not explicitly illustrated, the tail500can be controlled via membranes at the interface of each of the tail members510that are part of the noted integrated joints. For example, the membranes can be controlled using hydraulics routed through the cavity520or via another mechanism to selectively adjust the membranes (e.g., inflate, rotate, etc.) in a particular way (e.g., asymmetric) to induce movement in the limb500. In further aspects, the cavity520may provide a route for tensioning cables or another mechanism that can be routed to different ones of the tail members510and selectively tensioned to induce movement.

The mechanical systems for controlling the limb400and the limb500, in one embodiment, are routed through the support component and housed in a structure on the back of the user or within the support component itself. It should be appreciated that providing accommodations for batteries, hydraulic components, electronic computing components, sensors, and/or other utilities of the limb can take many forms. However, the focus of the present disclosure is the functionality provided by the implemented tail and thus are not explicitly detailed herein.

However,FIGS. 6-14illustrate further aspects about how the mobility system170functions and thus will now be described as exemplary embodiments of how the limb400may be implemented.FIG. 6illustrates an example view600of a user605wearing the mobility system170that is configured with the limb400. In the view600, the limb400is illustrated in a ready position and can be controlled to maneuver upon detecting an assistance event as previously explained. In either case, the view600shows how the limb400can be secured to the user605through a chest harness610and a waist device620that is, for example, a belt. The waist device620may also include a seat in order to support the weight of the user605without chaffing or otherwise stressing areas of the user605associated with the other support components.

The configuration ofFIG. 6also depicts a spinal support615that is a rigid member connecting the chest harness610and the waist device620. The spinal support615is, for example, constructed of a material similar to the members420and440of the limb400. The spinal support615may have a shape that is cylindrical, flat or another suitable shape. It should be noted that considerations for the shape of the spinal support615include strength and similar considerations as the other members, but also includes aspects relating to the comfort of the user605since the user605will rest against the spinal support615when seated. Consequently, the support615may be flattened, padded, or include other aspects to facilitate comfort. In either case, the support component is configured to attach the limb400midway on the back of the user at, for example, the base of the spine thereby attaching the single limb to the user without attachment to a leg or other portion of the lower extremities and in isolation without separate structures for each leg.

FIG. 7illustrates a view700of the limb400with the user transitioning between a seated and a standing position. As seen in the view700, the foot460is planted on the ground while the joints410,430, and450assist the user with transitioning by providing support through either the plain mechanical ratcheting, as previously discussed, or through a power-assisted movement.FIG. 8illustrates a view800of the mobility system170with the limb400. As shown, the base joint410includes a seat810attached thereto as part of the support component. Thus, the seat810may extend between the legs of the user to provide support. Moreover, while the limb400is shown in a chair-type of configuration, in general, the limb400is itself not used as a chair/seat but instead is configured in the shown manner when the user is seated on a couch, chair, or another piece of furniture. Thus, as the user moves to stand, the limb400can provide an upward force to assist in the movement.

FIG. 9includes a view900of the user605in which the limb400is in a stowed position on the back of the user605. The stowed position is useful when, for example, the user605is upright and does not require assistance with movement. Of course, depending on the particular user, the limb may be kept in a ready state as shown inFIG. 6in order to maintain the limb400at the ready instead of being in a standby mode as shown inFIG. 9.

FIG. 10illustrates a further view1000in which the limb400is pivoted into an overhead configuration in order to grasp objects using graspers1010that are, for example, integrated within the foot460. Moreover, it should be noted that the configuration of the limb400shown inFIG. 10includes an additional support member between the lower member440and the base member420. Thus, the limb400can be configured with additional sections in order to provide additional overall length. Alternatively, the additional sections may nest inside one another and extend when needed to provide a more compact configuration.

FIG. 11illustrates a further view1100in which the limb is rotated to a front side of the user and the grasper1010is assisting the user with holding an object1110. Thus, the limb400may also assist with holding objects and with transferring weight to a more efficient carrying configuration. Additionally, as shown inFIG. 11the limb400rotates around the user instead of extending through the legs of the user. Thus, the base joint410in this configuration is, for example, configuration to slide on the support component or otherwise rotate in a manner so as to permit limb400to move around the user. Thus, the base joint410, in the illustrated example, includes additional rotation through more than a single degree of freedom in order to facilitate the illustrated movement.

FIG. 12illustrates a view1200in which the mobility system170when configured with the limb400is worn in a configuration so as to be at least partially concealed from view. In this noted configuration, the system170is provided under clothes1210of the user, in particular, under a dress. It should be noted that in such a configuration some movements such as overhead movements may be limited in order to prevent raising the dress in a compromising manner.FIG. 13illustrates a view1300of the limb400providing leaning support to the user. As shown, the limb is secured at an angle against a weight of the user leaning backward. Additionally, the foot460is opened with the graspers1010extending in opposite directions to provide a wider base of support. The foot460may be configured with a non-slip coating such as a rubber sole or other similar coating in order to prevent sliding of the limb400in the noted configuration.

FIG. 14illustrates a view1400of the limb400pivoted around in a similar configuration as shown in the view1100. That is, the limb extends around the user and provides support to a laptop so that the user can type or otherwise use the laptop with both hands. It should be noted that, the limb400can be configured with additional attachments such as trays, different graspers, and so on in order to provide for additional specialized functions. As an additional note, substituting the limb500for the limb400, as previously noted, in various implementations as discussed in relation toFIGS. 6-14can provide additional dexterity in movement of the limb500. For example, the limb500may extend around the user605to provide functionality as shown in views1100and1400with less intrusion to the user because of the added ability of the limb500to curve. Additionally, the limb500may provide additional functionality without particular attachments such as curling at a distal end to grasp objects, hold onto railings, open doors, and so on. In either case, the mobility system170provides a robust mechanism for assisting users with movements and also with performing daily tasks as shown in the discussed figures.

FIG. 1will now be discussed in full detail as an example environment within which the system and methods disclosed herein may operate. In some instances, the sub-systems100are configured to switch selectively between an autonomous mode, one or more semi-autonomous operational modes, and/or a manual mode. Such switching can be implemented in a suitable manner, now known or later developed. “Manual mode” means that all of or a majority of the maneuvering of the limb is performed according to inputs received from a user (e.g., a human operator) whether through mechanical linkages or electronic control inputs. In one or more arrangements, the sub-systems100are implemented to operate the limb in only a manual mode.

In one or more embodiments, the sub-systems100provide autonomous operation of the limb that is independent of direct user inputs. As used herein, “autonomous” refers to a limb that is automatically operated in an autonomous mode. “Autonomous mode” refers to maneuvering the limb using one or more computing systems with minimal or no input from a human operator. In one or more embodiments, the sub-systems100are highly automated or completely automated. In one embodiment, the sub-systems100are configured with one or more semi-autonomous operational modes in which one or more computing systems perform a portion of the maneuvering of the limb, and a user provides inputs to perform or initiate a portion of the maneuvering of the sub-systems100.

In one or more arrangements, the data stores115can store maps including feature-based maps, obstacle maps, or other information that is used by the mobility system170and/or the autonomous modules160in determining how to control the limb. The one or more data stores115can include sensor data250. In this context, “sensor data” means any information about the sensors that the sub-systems100is equipped with, including the capabilities and other information about such sensors. As will be explained below, the sub-systems100can include the sensor system120. The sensor data250can relate to one or more sensors of the sensor system120. As an example, in one or more arrangements, the sensor data250can include information on one or more LIDAR sensors124of the sensor system120.

In some instances, at least a portion of the map data and/or the sensor data250can be located in one or more data stores115located onboard the sub-systems100. Alternatively, or in addition, at least a portion of the map data and/or the sensor data250can be located in one or more data stores115that are located remotely from the sub-systems100.

In arrangements in which the sensor system120includes a plurality of sensors, the sensors can function independently from each other. Alternatively, two or more of the sensors can function in combination. In such a case, the two or more sensors can form a sensor network. The sensor system120and/or the one or more sensors can be operatively connected to the processor(s)110, the data store(s)115, and/or another element of the sub-systems100(including any of the elements shown inFIG. 1). The sensor system120can acquire data of at least a portion of the external environment of the sub-systems100(e.g., nearby obstacles).

The sensor system120can include any suitable type of sensor. Various examples of different types of sensors will be described herein. However, it will be understood that the embodiments are not limited to the particular sensors described. The sensor system120can include one or more limb sensors121. The limb sensor(s)121can detect, determine, and/or sense information about the sub-systems100itself including the limb (e.g., limb400or500). In one or more arrangements, the vehicle sensor(s)121can be configured to detect, and/or sense position and orientation changes of the limb and/or user, such as, for example, based on inertial acceleration. In one or more arrangements, the limb sensor(s)121can include one or more accelerometers, one or more gyroscopes, an inertial measurement unit (IMU), a dead-reckoning system, a global navigation satellite system (GNSS), a global positioning system (GPS), a navigation system, and/or other suitable sensors. The limb sensor(s)121can be configured to detect, and/or sense one or more characteristics of the sub-systems100and/or the limb itself.

Alternatively, or in addition, the sensor system120can include one or more environment sensors122configured to acquire, and/or sense data about a surrounding environment. “environment data” includes data or information about the external environment in which the system is located or one or more portions thereof. For example, the one or more environment sensors122can be configured to detect, quantify and/or sense obstacles in at least a portion of the external environment of the sub-systems100and/or information/data about such obstacles. Such obstacles may be stationary objects and/or dynamic objects. The one or more environment sensors122can be configured to detect, measure, quantify and/or sense other things in the external environment of the sub-systems100, such as, for example, stairs, furniture, railings, doors, curbs, objects, and so on.

As an example, in one or more arrangements, the sensor system120can include one or more radar sensors123, one or more LIDAR sensors124, one or more sonar sensors125, and/or one or more cameras126. In one or more arrangements, the one or more cameras126can be high dynamic range (HDR) cameras or infrared (IR) cameras.

The sub-systems100can include an input system130. An “input system” includes any device, component, system, element or arrangement or groups thereof that enable information/data to be entered into a machine. The input system130can receive an input from a user. The sub-systems100can include an output system135. An “output system” includes any device, component, or arrangement or groups thereof that enable information/data to be presented to the user.

The sub-systems100can include one or more limb systems140. Various examples of the one or more limb systems140are shown inFIG. 1. However, the sub-systems100can include more, fewer, or different limb systems. It should be appreciated that although particular limb systems are separately defined, each or any of the systems or portions thereof may be otherwise combined or segregated via hardware and/or software within the sub-systems100. The sub-systems100can include a hydraulic system141, an electrical system142, and a host system143. Each of these systems can include one or more devices, components, and/or a combination thereof, now known or later developed.

In one or more arrangements, the hydraulic system141includes hydraulic pumps, reservoirs, pressurized lines, actuators, valves, rams, and so on. In general, the hydraulic system141can be leveraged to provide movement in the limb and is thus controlled by the mobility system170to achieve the noted functions and maneuvers disclosed herein.

In one or more arrangements, the electrical system142includes electrical motors, gears, wiring, logic controls, batteries, and so on. In general, the electrical system142includes elements designed to control the limb to move in a manner that provides assistance to the user as disclosed herein. Thus, the electrical system142is controlled via the mobility system170to correlate the actions of the electrical system142with desired maneuvers as indicated via the mobility system170. As an additional note, while both the hydraulic system141and the electrical system142are disclosed, in various implementations, one of the noted systems may be implemented independently. In further aspects, the systems are implemented in combination.

In one or more arrangements, the limb systems include a host system143. In general, the host system143includes aspects relating to the hose/user of the limb. Thus, the host system143can include sensors, support components for securing the disclosed aspects to the user, and so on.

The processor(s)110, the mobility system170, and/or the autonomous module(s)160can be operatively connected to communicate with the various limb systems140and/or individual components thereof. For example, returning toFIG. 1, the processor(s)110and/or the autonomous module(s)160can be in communication to send and/or receive information from the various limb systems140to control the movement, speed, maneuvering, etc. of the limb. The processor(s)110, the mobility system170, and/or the autonomous module(s)160may control some or all of these limb systems140and, thus, may be partially or fully autonomous.

The processor(s)110, the mobility system170, and/or the autonomous module(s)160can be operatively connected to communicate with the various limb systems140and/or individual components thereof. For example, returning toFIG. 1, the processor(s)110, the mobility system170, and/or the autonomous module(s)160can be in communication to send and/or receive information from the various limb systems140to control the movement, speed, maneuvering, heading, direction, etc. of the sub-systems100. The processor(s)110, the mobility system170, and/or the autonomous module(s)160may control some or all of these limb systems140.

The processor(s)110, the mobility system170, and/or the autonomous module(s)160may be operable to control the navigation and/or maneuvering of the limb by controlling one or more of the limb systems140and/or components thereof. For instance, when operating in an autonomous mode, the processor(s)110, the mobility system170, and/or the autonomous module(s)160can control the direction and/or speed of movements of the limb. The processor(s)110, the mobility system170, and/or the autonomous module(s)160can cause the sub-systems100to move in a particular direction with a designated force, to push against a surface, and so on. In one embodiment, the mobility system170can collect data about control signals from the processor110and the autonomous module160that cause the limb to perform various maneuvers and/or why the autonomous module160induced the maneuvers. As used herein, “cause” or “causing” means to make, force, compel, direct, command, instruct, and/or enable an event or action to occur or at least be in a state where such event or action may occur, either in a direct or indirect manner.

The sub-systems100can include one or more autonomous modules160. The autonomous module(s)160can be configured to receive data from the sensor system120and/or any other type of system capable of capturing information relating to the sub-systems100and/or the external environment of the sub-systems100. In one or more arrangements, the autonomous module(s)160can use such data to generate one or more models. The autonomous module(s)160can determine position and velocity of the limb. The autonomous module(s)160can determine the location of obstacles, or other environmental features.

The autonomous module(s)160can be configured to receive, and/or determine location information for obstacles within the external environment of the sub-systems100/limb for use by the processor(s)110, and/or one or more of the modules (e.g.,220,230) described herein to estimate position and orientation of the limb, vehicle position in global coordinates based on signals from a plurality of satellites, or any other data and/or signals that could be used to determine the current state of the sub-systems100or determine the position of the sub-systems100with respect to its environment for use in either creating a map or determining the position of the sub-systems100in respect to map data.

The autonomous module(s)160either independently or in combination with the mobility system170can be configured to determine travel path(s), current autonomous maneuvers for the limb, future autonomous maneuvers and/or modifications to current autonomous maneuvers based on data acquired by the sensor system120, and/or data from any other suitable source. In one embodiment, the autonomous module(s)160include one or more machine learning algorithms implemented through modules executed by the processor110. Thus, the in one embodiment, the autonomous module160includes the deep learning model260.