Patient lifting and rehabilitation device

A method of operating a patient lift device comprising:

• providing the patient lift device including
• two vertical extendible tower members, each of the two vertical extendible tower members configured to simultaneously one of raise and lower the two vertical extendible tower members in a vertical direction,
• a horizontal extendible transverse member connected between second opposing distal upper ends of the two vertical extendible tower members, the horizontal extendible transverse member configured to extend and retract the horizontal extendible transverse member in a horizontal direction perpendicular to the vertical direction, and
• a motion control system configured to supply motion control signals to respective movable components of the patient lift device;
• determining, via a load sensor, a patient loading on the lift device;
• and
• supplying, based on determining the patient loading and via the motion control system, a smooth motion control signal configured to control a motion of at least one of the two vertical extendible tower members, and the horizontal extendible transverse member,
• wherein the smooth motion control signal includes at least one of a non-linear acceleration portion, and a non-linear deceleration portion proximate one of a linear acceleration or linear deceleration portion.

A method of operating a patient lift device comprising:

• providing the patient lift device including
• two vertical extendible tower members, each of the two vertical extendible tower members configured to simultaneously one of raise and lower the two vertical extendible tower members in a vertical direction,
• a horizontal extendible transverse member connected between second opposing distal upper ends of the two vertical extendible tower members, the horizontal extendible transverse member configured to extend and retract the horizontal extendible transverse member in a horizontal direction perpendicular to the vertical direction,
• a motion control system configured to supply motion control signals to respective movable components of the patient lift device, and
• a navigation control system configured to move the lift device along an input navigation path;
• determining, via a load sensor, a patient loading on the lift device;
• supplying, based on determining the patient loading and via the motion control system, a smooth motion control signal configured to control a motion of the lift device, wherein the smooth motion control signal includes at least one of a non-linear acceleration portion, and a non-linear deceleration portion proximate one of a linear acceleration or linear deceleration portion;
• determining a navigation path configured to be executed by the navigation control system to guide the patient lift device thereon;
• determining, via at least one of a proximity sensing system and a machine vision system, one of a presence of an obstacle or an absence of a previously detected obstacle;
• transforming, via the motion control system and under control of at least one smooth motion control signal, by at least one of extending or retracting at least one of the two vertical extendible tower members and the horizontal extendible transverse member based on determining one of the presence of the obstacle or the absence of the previously detected obstacle;
• and
• navigating the lift device along the navigation path under control of at least one smooth motion control signal based on transforming at least one of the two vertical extendible tower members and the horizontal extendible transverse member.

A lift device comprising:

• two vertical extendible tower members supporting a horizontal extendible transverse member;
• a payload lifting device on the horizontal extendible transverse member configured to raise and lower a payload with respect to the horizontal extendible transverse member and a traveler carriage configured to translate the payload between the two vertical extendible tower members along the horizontal extendible transverse member;
• an omnidirectional wheel assembly configured to translate and rotate the lift device;
• a navigation control system configured to provide navigation control to the lift device via the omnidirectional wheel assembly based on a navigation path;
• one of a proximity sensing system and a machine vision system, configured to determine, one of a presence of an obstacle or an absence of a previously detected obstacle relative to the navigation path;
• and
• a motion control system configured to:
• provide, based on determining a patient loading, a smooth motion control signal configured to control a motion of at least one of
• the two vertical extendible tower members,
• the omnidirectional wheel assembly,
• the horizontal extension assembly,
• the payload lifting device, and
• the traveler carriage,
• wherein the smooth motion control signal includes at least one of a non-linear acceleration portion and a non-linear deceleration portion proximate to one of a linear acceleration or linear deceleration portion;
• and
• provide, based on the determining the presence of the obstacle or the absence of the previously detected obstacle relative to the navigation path, one of a retract or expand signal to the one of the two vertical extendible towers members, and the horizontal extendible transverse member.