Mobility assistance devices with automated assessment and adjustment control
Inventors
Dalley, Skyler • MURRAY, SPENCER • Farris, Ryan • Goldfarb, Michael • Morrison, Scott
Assignees
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Publication Number
US-11642272-B2
Publication Date
2023-05-09
Expiration Date
Abstract
A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user. Automatic adjustments to the device components, including adjusting tension and resistance levels of the joint components, may then be made based the performance metrics.
Core Innovation
The invention provides a mobility assistance device, including at least one actuator component that drives at least one joint component, and an electronic control system for controlling operation of the plurality of mobility device components to selectively configure and modulate the at least one joint component. The mobility device includes a plurality of sensors to detect a state of the at least one actuator component and/or the at least one joint component. A control application executed by the control system includes program code for an automated assessment and adjustment protocol comprising predetermined assessment operations controlled by the mobility device components.
A command is received to initiate the automated assessment and adjustment protocol. In response, one or more of the plurality of mobility device components are controlled to perform the plurality of predetermined assessment operations, during which the control application electronically gathers user performance data comprising operation of the mobility device in connection with performance of the predetermined assessment operations. User performance metrics corresponding to user capabilities are then determined based on the user performance data, and control is electronically adjusted in accordance with the performance metrics to enhance user performance with the mobility device.
The automated assessment comprises an automated manual muscle test (MMT) in which the mobility device controls the user to begin moving and controls the at least one joint component to eliminate and allow for gravity effects in accordance with the MMT by controlling the tension or resistance of the at least one joint component. The automated assessment comprises an automated 10 Meter Walk Test (10MWT) in which the mobility device controls the user to begin walking, determines when the user has reached a constant speed and begin an internal counter, and tracks a distance covered by the user and stops the internal counter when at a fixed distance. Performance metrics are used to adjust the control of the mobility device components, including adjusting assistance level and adjusting control to enhance user performance.
Claims Coverage
The independent claims cover four core inventive aspects: (i) an automated assessment and adjustment protocol executed by a mobility device control application, (ii) automated predetermined assessment operations for automated MMT and automated 10MWT, (iii) electronic gathering of user performance data and determination of user performance metrics corresponding to user capabilities, and (iv) electronic adjustment of control of mobility device components in accordance with the performance metrics to enhance user performance.
Automated assessment and adjustment protocol with sensors and performance metrics
Receiving a command to initiate an automated assessment and adjustment protocol; controlling one or more of the plurality of mobility device components to perform the plurality of predetermined assessment operations; electronically gathering user performance data comprising operation of the mobility device in connection with performance of the predetermined assessment operations, and determining user performance metrics corresponding to user capabilities; and electronically adjusting the control of one or more of the plurality of mobility device components in accordance with the performance metrics to enhance user performance.
Automated manual muscle test via gravity effect elimination and joint tension or resistance control
The automated assessment comprises an automated manual muscle test (MMT), and controlling one or more of the plurality of mobility device components to perform the automated assessment comprises controlling the plurality of mobility device components for the user to begin moving; and controlling the at least one joint component to eliminate and allow for gravity effects in accordance with the MMT by controlling the tension or resistance of the at least one joint component.
Automated 10 Meter Walk Test via constant speed detection and fixed-distance counter control
The automated assessment comprises an automated 10 Meter Walk Test (10MWT), and controlling one or more of the plurality of mobility device components to perform the automated assessment comprises controlling the plurality of mobility device components for the user to begin walking; determining when the user has reached a constant speed and begin an internal counter; and tracking a distance covered by the user and stopping the internal counter when at a fixed distance.
Non-transitory computer-readable medium storing control application code for automated assessment and adjustment
A non-transitory computer readable medium storing program code for a control application for use in controlling a mobility device, wherein the control application includes program code for an automated assessment and adjustment protocol comprising a plurality of predetermined assessment operations to control one or more of the plurality of mobility device components, and the program code when executed receives a command to initiate the protocol, controls the components to perform the predetermined assessment operations, electronically gathers user performance data, determines user performance metrics, and electronically adjusts control in accordance with the performance metrics to enhance user performance.
Across the independent claims, the invention is directed to an automated assessment and adjustment protocol performed by a mobility device control system using sensors to detect component states, predetermined assessment operations including automated MMT and automated 10MWT, electronic gathering of user performance data with resulting user performance metrics, and electronic adjustment of mobility device component control to enhance user performance.
Stated Advantages
Enhance user performance with the mobility device.
Documented Applications
Automated manual muscle test (MMT) performed by a mobility assistance/exoskeleton control method.
Automated 10 Meter Walk Test (10MWT) performed by controlling a mobility device while tracking distance using an internal counter.
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