Control system for a wheelchair having movable parts
AssigneePermobil AB
InventorPatrik Emilsson
Life of this patent
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Abstract
The invention relates to a control system for controlling a wheelchair having movable parts. The control system comprises a controller and a number of actuators for effectuating movements of the movable parts. The controller comprises a mathematical model of the kinematics of the movable parts and their respective at least one actuator, means for receiving an input signal from one or more of the actuators, and means for setting, based on the mathematical model, limiting positions of the actuators in response to the determined input signal. The invention also relates to a corresponding wheelchair and method of controlling a wheelchair.
Claims21
Control system for controlling a wheelchair having movable parts, said control system comprising a controller and a number of actuators for effectuating movements of said movable parts characterised in that
- said controller (2) comprises a mathematical model of the kinematics of said movable parts (31, 32, 33, 34, 35, 36) and a respective at least one actuator (N1, N2, . . . , Nn), said mathematical model being based on defining a structure of said wheelchair by a number of points, said number of points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions,
- said controller (2) comprises means for receiving an input signal from one or more of said actuators (N1, N2, . . . , Nn),
- said controller (2) comprises means for setting, based on said mathematical model, limiting positions of said actuators (N1, N2, . . . , Nn) in response to said input signal, enabling dynamical alteration of limiting positions of said actuators.
A method of controlling a wheelchair having a number of movable parts (31, 32, 33, 34, 35, 36), a number of actuators (N1, N2, . . . , Nn) located in connection with and enabling movement of said movable parts (31, 32, 33, 34, 35, 36), and a controller (2) for controlling movements of said actuators (N1, N2, . . . , Nn), said method comprising steps of:
- programming said controller (2) with a mathematical model of the kinematics of said movable parts (31, 32, 33, 34, 35, 36) and their respective at least one actuator (N1, N2, . . . , Nn), said mathematical model being based on defining the structure of a wheelchair by a number of points, said points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions,
- determining an input value of one or more of said actuators (N1, N2, . . . , Nn),
- setting, based on said mathematical model, limiting positions of said actuators (N1, N2, . . . , Nn) in response to said determined input value.
Dependencies are inferred from the claim text.