# US 10,765,586 B2 · Walking aid device

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- Number: US 10,765,586 B2
- Document ID: US10765586B2
- Status: Granted
- Kind: B2
- Application number: 15/871,078
- Filed: 2018-01-15
- Published: 2019-05-16
- Granted: 2020-09-08
- Earliest claimed: 2017-11-14
- Assignees: Wistron Corporation
- Applicants: Wistron Corporation
- Inventors: Chen-Yi Liang; Cheng-Hsing Liu; Ming-Ju Hsieh; Chien-Wei Chen
- Web page: https://patentgrep.com/patent/US10765586B2

## CPC

- A61H 3/04: Wheeled walking aids for patients or disabled persons
- A61H 1/00: Apparatus for passive exercising (A61H5/00 takes precedence); Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H 2003/043: {with a drive mechanism}
- A61H 2003/046: {with braking means}
- A61H 2201/0161: Size reducing arrangements when not in use, for stowing or transport
- A61H 2201/0192: Specific means for adjusting dimensions
- A61H 2201/1215: Rotary drive
- A61H 2201/1633: Seat (A61H2201/0149 takes precedence)
- A61H 2201/1635: Hand or arm, e.g. handle
- A61H 2201/5007: computer controlled
- A61H 2201/5025: Activation means
- A61H 2201/5048: Audio interfaces, e.g. voice or music controlled
- A61H 2201/5058: Sensors or detectors
- A61H 2201/5064: Position sensors
- A61H 2201/5069: Angle sensors
- A61H 2201/5071: Pressure sensors
- A61H 2201/5084: Acceleration sensors
- A61H 2201/5092: Optical sensor
- A61H 2203/0406: Standing on the feet
- A61H 2203/0425: Sitting on the buttocks
- A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N)

## Abstract

A walking aid device including a moving body, a message receiving element, a positioning element, and a processor is provided. The message receiving element, the positioning element, and the processor are respectively disposed at the moving body, and the message receiving element and the positioning element are respectively electrically coupled to the processor. The message receiving element is configured to receive a message from a target, and the positioning element is configured to locate a position of the moving body. When the message from a target is received by the message receiving element, the processor determines an orientation of the target according to the message, and the positioning element locates the position of the moving body. The processor produces a position data according to the orientation of the target and the position of the moving body, and controls the moving body to move to where the target is located.

## Claims

### Claim 1

A walking aid device, comprising:
a moving body, the moving body has a seat and a handle;
a message receiving element, disposed at the moving body and configured to receive a message from a target;
a positioning element, disposed at the moving body and configured to locate a position of the moving body; and
a processor, disposed at the moving body and electrically coupled to the message receiving element and the positioning element, wherein when the message receiving element receives the message from the target, the processor determines an orientation of the target according to the message, and the positioning element locates the position of the moving body, the processor produces a position data according to the orientation of the target and the position of the moving body, and controls the moving body to move to where the target is located according to the position data, and controls the seat or the handle to rotate according to the message.

### Claim 2 (depends on 1)

The walking aid device as recited in claim 1, further comprising:
at least one image sensor, disposed at one side of the moving body and electrically coupled to the processor, wherein the at least one image sensor is configured to obtain an image of the target, the processor determines a distance, an orientation or a posture of the target according the image of the target obtained by the at least one image sensor.

### Claim 3 (depends on 2)

The walking aid device as recited in claim 2, wherein the seat and the handle are movably connected to the moving body.

### Claim 4 (depends on 3)

The walking aid device as recited in claim 3, further comprising:
a first driving element, disposed at the moving body and connected to the seat to drive the seat to rotate relative to the moving body, wherein the first driving element is electrically coupled to the processor; and
a second driving element, disposed at the moving body and connected to the handle to drive the handle to rotate relative to the moving body, wherein the second driving element is electrically coupled to the processor.

### Claim 5 (depends on 4)

The walking aid device as recited in claim 4, further comprising:
a pressure sensing element, disposed at the seat and electrically coupled to the processor, wherein when the target applies a pressure onto the pressure sensing element, the processor controls the first driving element to drive the seat to rotate relative to the moving body according to a pressure value detected by the pressure sensing element.

### Claim 6 (depends on 4)

The walking aid device as recited in claim 4, further comprising:
a pressure sensing element, disposed at the handle and electrically coupled to the processor, wherein when the target applies a pressure onto the pressure sensing element, the processor controls the second driving element to drive the handle to rotate relative to the moving body according to a pressure value detected by the pressure sensing element.

### Claim 7 (depends on 4)

The walking aid device as recited in claim 4, further comprising:
a pressure sensing element, disposed at the handle and electrically coupled to the processor, wherein when the target applies a pressure onto the pressure sensing element, the processor controls the second driving element to drive the handle to rotate relative to the moving body according to a pressure value detected by the pressure sensing element and the orientation and the posture of the target.

### Claim 8 (depends on 4)

The walking aid device as recited in claim 4, further comprising:
a first pressure sensing element, disposed at the seat and electrically coupled to the processor; and
a second pressure sensing element, disposed at the handle and electrically coupled the processor,
wherein when the target applies a pressure onto the first pressure sensing element, the processor turns off a sensing function of the second pressure sensing element according to a pressure value detected by the first pressure sensing element and controls the first driving element to drive the seat to rotate relative to the moving body along a rotation direction, and until the seat rotates into position, the processor turns on the sensing function of the second pressure sensing element again,
when the target simultaneously applies pressures onto the first pressure sensing element and the second pressure sensing element, the processor controls the moving body to move according to a pressure value detected by the first pressure sensing element and a pressure value detected by the second pressure sensing element.

### Claim 9 (depends on 8)

The walking aid device as recited in claim 8, further comprising:
a switch element, disposed at the handle and electrically coupled to the processor, wherein after the switch element is activated, the processor turns off the sensing function of the second pressure sensing element and stops the moving body from moving, and then controls the first driving element to drive the seat to rotate relative to the moving body along a direction opposite to the rotation direction, and until the seat rotates into position and the pressure applied onto the first pressure sensing element is removed, the processor turns on the sensing function of the second pressure sensing element again.

### Claim 10 (depends on 2)

The walking aid device as recited in claim 2, wherein after the processor determines the distance, the orientation or the posture of the target according to the image of the target obtained by the at least one image sensor while the message receiving element receives a command sent out by the target, the processor controls the moving body to move along the target according to the command.

### Claim 11 (depends on 1)

The walking aid device as recited in claim 1, wherein the moving body comprises an active body, a driven body and a driving element, and the driven body is pivoted on the active body, wherein the driving element is connected to the driven body and the active body, the driving element is electrically coupled to the processor, the driving element is configured to drive the driven body to rotate relative to the active body so as to adjust an expansion angle between the driven body and the active body.

### Claim 12 (depends on 11)

The walking aid device as recited in claim 11, further comprising:
a pair of drive assemblies, connected to the active body and electrically coupled to the processor, and the pair of drive assemblies operates under a control of the processor to drive the active body to move.

### Claim 13 (depends on 11)

The walking aid device as recited in claim 11, further comprising:
a proximity sensing element, disposed at the active body and electrically coupled to the processor, and the proximity sensing element is configured to detect obstacles around the moving body.

### Claim 14 (depends on 11)

The walking aid device as recited in claim 11, further comprising:
a tilt sensing element, disposed at the active body and electrically coupled to the processor, and the tilt sensing element is configured to detect a tilt angle of the moving body.

### Claim 15 (depends on 1)

The walking aid device as recited in claim 1, wherein the position data comprises a map information around the target and the moving body.