Patent ID: 7953537

Claim:
A control system for a self-propelled patient-support apparatus comprising a user input device, a motor for driving a wheel over a floor, and a controller including a processor and a memory device including instructions that, when executed by the processor, (i) monitor the user input device to determine a speed input request from a user, (ii) determine a desired direction of movement of the patient-support apparatus across the floor, (iii) normalize the speed input request, (iv) compare the normalized speed input request to a threshold value, (v) calculate an effective speed input value by evaluating a current speed input request and a previous speed output value, (vi) apply a speed transfer function to the effective speed input value to determine a current raw speed output value, (vii) scale the current raw speed output value based on the desired direction of movement to determine a current scaled speed output, (viii) weight the current scaled speed output with the previous speed output value to determine a current speed output value to transmit to the motor.