Wheelchair systems and methods enabling fine manual motion control

A powered wheelchair system comprising:

• a powered wheelchair comprising:
• a frame;
• one or more wheels coupled to the frame,
• at least one actuator coupled to the one or more wheels;
• a wheelchair weight sensor, an objection detection sensor, and a surface sensor coupled to the frame and communicatively coupled to the processing device, the objection detection sensor configured to detect an immovable object and an undesirable object;
• a processing device, and
• a storage medium in communication with the processing device, wherein the storage medium comprising one or more programming instructions that, when executed, cause the processing device to:
• determine a wheel torque on the one or more wheels based on a weight of the powered wheelchair, a weight of a user, and a type of surface in contact with the one or more wheels,
• determine a compensation value based on the determined wheel torque, and
• actuate the at least one actuator applying the compensation value to the one or more wheels to remove the determined wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied,
• wherein when a detection of the immovable object occurs, the compensation value is added by the at least one actuator to permit a fine manual motion of the powered wheelchair and when a detection of the undesirable object is determined, the compensation value is removed.

A method of operating a powered wheelchair, the method comprising:

• determining a wheel torque on one or more wheels of the powered wheelchair;
• determining a compensation value based on the determined wheel torque, the compensation value is a value that is equal to or less than the determined amount of wheel torque,
• detecting, by an objection detection sensor, an immovable object and an undesirable object, such that when a detection of the immovable object occurs, the compensation value is added by an at least one actuator to permit a fine manual motion of the powered wheelchair, and
• actuating the at least one actuator applying the compensation value to the one or more wheels to at least partially remove the determined wheel torque.