Robotic cane devices

A robotic cane comprising:

• a grip handle;
• a cane body extending from the grip handle at a first end of the cane body;
• a motorized wheel assembly comprising at least one wheel coupled to a second end of the cane body;
• a proximity detector, wherein the proximity detector provides a proximity signal corresponding to a position of a user with respect to the robotic cane;
• a controller module, wherein the controller module:
• receives the proximity signal from the proximity detector;
• calculates a distance of the robotic cane from the user based at least in part on the proximity signal;
• and
• provides a drive signal to the motorized wheel assembly such that the robotic cane follows the user at a predetermined distance;
• and
• a grip force sensor associated with the grip handle for providing a grip force signal to the controller module in accordance with a grip force value applied to the grip handle, wherein
• the motorized wheel assembly comprises a motorized omni-directional wheel;
• and
• the controller module:
• receives the grip force signal from the grip force sensor;
• compares the grip force value to a grip force threshold;
• and
• provides a fall prevention drive signal to the motorized omni-directional wheel if the grip force value exceeds the grip force threshold, wherein the fall prevention drive signal is determined at least in part on the grip force signal, a balance signal, and a feed-forward loop of an inverted pendulum control algorithm such that the motorized omni-directional wheel provides a counter force that is opposite from a user weight projection indicated by the balance control sensor.

A robotic cane comprising:

• a grip handle;
• a cane body extending from the grip handle at a first end of the cane body;
• a motorized omni-directional wheel coupled to a second end of the cane body;
• a balance control sensor, wherein the balance control sensor provides a balance signal corresponding to an orientation of the robotic cane;
• a grip force sensor associated with the grip handle for providing a grip force signal in accordance with a grip force value applied to the grip handle;
• and
• a controller module, wherein the controller module:
• receives the balance signal from the balance control sensor;
• monitors an orientation angle of the robotic cane based at least in part on the balance signal provided by the balance control sensor;
• receives the grip force signal from the grip force sensor;
• compares the grip force value to a grip force threshold;
• and
• provides a fall prevention drive signal to the motorized omni-directional wheel during a fall prevention mode in accordance with a feed-forward control loop of an inverted pendulum control algorithm if the grip force value exceeds the grip force threshold such that the motorized omni-directional wheel provides a counter force that is opposite from a user weight projection indicated by the balance control sensor.