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    • 53. 发明申请
    • ROBOTIC CANE DEVICES
    • 机器人装置
    • US20120029696A1
    • 2012-02-02
    • US12847410
    • 2010-07-30
    • Yasuhiro OtaMasaru RyumaeKeiichi SatoShin Sano
    • Yasuhiro OtaMasaru RyumaeKeiichi SatoShin Sano
    • G06F19/00G05B15/00
    • A61H3/04A61H2003/0272A61H2003/043A61H2201/5061A61H2201/5069B60L11/1805Y02T10/7005Y10S901/09
    • A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position.
    • 机器手柄可以包括手柄,在第一端从手柄延伸的手杖主体,联接到手杖主体的第二端的电动全方向轮,平衡控制传感器和控制器模块。 平衡控制传感器提供对应于机器人手杖的取向的平衡信号。 控制器模块可以从平衡控制传感器接收平衡信号,并且至少部分地基于平衡信号和倒立摆控制算法来计算机动全方向轮的平衡速度。 控制器模块还可以根据计算的平衡速度向机动化全向轮提供驱动信号。 计算的平衡速度是电动全向轮的速度和方向,以将机器手柄保持在基本直立的位置。