Robotic rollator walker with automated power drive

A walker with automated power drive, the walker comprising:

• a rigid frame comprising a left grip and a right grip;
• a left wheel and right wheel affixed to the rigid frame;
• a left drive motor integrally mounted to the left wheel;
• a right drive motor integrally mounted to the right wheel;
• and
• a drive motor controller for powering the left drive motor and right drive motor, wherein the controller is configured to:
• a) determine an orientation of the walker, a speed of the walker, and a user force applied to the left grip and to the right grip;
• b) generate a first motor current component based on the orientation of the walker;
• c) generate a second motor current component based on the speed of the walker;
• d) determine a user force applied forwards or backwards on the left grip and right grip;
• wherein the user force applied to the left grip is determined based on a difference between a target current used to power the left drive motor and a measured current from the left drive motor, and the user force applied to the right grip is determined based on a difference between a target current used to power the right drive motor and a measured current from the right drive motor;
• e) generate a third motor current component associated with the left drive motor based on the user force applied forwards or backwards on the left grip;
• f) generate a third motor current component associated with the right drive motor based on the user force applied forwards or backwards on the right grip;
• g) power the left drive motor with a drive current equal to a sum of the first motor current component, second motor current component, and third motor current component associated with the left drive motor;
• and
• h) power the right drive motor with a drive current equal to a sum of the first motor current component, second motor current component, and third motor current component associated with the right drive motor.

A walker with automated power drive, the walker comprising:

• a rigid frame comprising a left grip and a right grip;
• a left wheel and right wheel affixed to the rigid frame;
• a left drive motor integrally mounted to the left wheel;
• a right drive motor integrally mounted to the right wheel;
• and
• a drive motor controller for powering the left drive motor and right drive motor, wherein the controller is configured to:
• a) determine an orientation of the walker and a speed of the walker;
• b) generate a first motor current component based on the orientation of the walker;
• c) generate a second motor current component based on the speed of the walker;
• d) generate a third motor current component for the left drive motor;
• e) generate a third motor current component for the right drive motor;
• f) power the left drive motor with a drive current equal to a sum of the first motor current component, second motor current component, and third motor current component associated with the left drive motor;
• and
• g) power the right drive motor with a drive current equal to a sum of the first motor current component, second motor current component, and third motor current component associated with the right drive motor
• h) wherein the third motor current component associated with the left drive motor increases over a predetermined period of time until a user force is detected at the left drive motor;
• and
• i) wherein the third motor current component associated with the right drive motor increases over a predetermined period of time until a user force is detected at the right drive motor.