US 11,679,044 B2
Mobility device
Stewart M. Coulter, Bedford, NH (US); Brian G. Gray, Manchester, NH (US); Dirk A. van der Merwe, Canterbury, NH (US); Susan D. Dastous, Litchfield, NH (US); Daniel F. Pawlowski, Raymond, NH (US); Dean Kamen, Bedford, NH (US); David B. Doherty, Litchfield, NH (US); Matthew A. Norris, Londonderry, NH (US); Alexander D. Streeter, Concord, NH (US); David J. Couture, Nashua, NH (US); Matthew B. Kinberger, Manchester, NH (US); Catharine N. Flynn, Manchester, NH (US); Elizabeth Rousseau, Epsom, NH (US); Thomas A. Doyon, Manchester, NH (US); Ryan Adams, Cheshire, CT (US); Prashant Bhat, Bedford, NH (US); and Bob Peret, Bedford, NH (US)
Assigned to DEKA Products Limited Partnership, Manchester, NH (US)
Filed by DEKA Products Limited Partnership, Manchester, NH (US)
Filed on Dec. 1, 2020, as Appl. No. 17/108,645.
Application 17/108,645 is a division of application No. 15/600,703, filed on May 20, 2017, granted, now 10,908,045.
Application 15/600,703 is a continuation in part of application No. 15/486,980, filed on Apr. 13, 2017, granted, now 10,802,495.
Application 15/486,980 is a continuation in part of application No. 15/441,190, filed on Feb. 23, 2017, granted, now 10,220,843.
Claims priority of provisional application 62/403,030, filed on Sep. 30, 2016.
Claims priority of provisional application 62/339,723, filed on May 20, 2016.
Claims priority of provisional application 62/322,522, filed on Apr. 14, 2016.
Claims priority of provisional application 62/298,721, filed on Feb. 23, 2016.
Prior Publication US 2021/0145665 A1, May 20, 2021
Int. Cl. A61G 5/04 (2013.01); B60W 10/08 (2006.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); B60W 30/14 (2006.01); B60L 15/20 (2006.01); B60T 7/10 (2006.01); G01M 1/12 (2006.01); B62K 11/00 (2006.01); G05D 1/02 (2020.01); G05B 13/04 (2006.01); A61G 5/06 (2006.01); B60L 15/10 (2006.01); B60L 15/02 (2006.01); A61G 5/10 (2006.01); B60K 1/04 (2019.01); B60K 7/00 (2006.01)
CPC A61G 5/04 (2013.01) [A61G 5/061 (2013.01); A61G 5/1089 (2016.11); B60L 15/025 (2013.01); B60L 15/10 (2013.01); B60L 15/20 (2013.01); B60T 7/102 (2013.01); B60W 10/08 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/143 (2013.01); B62K 11/007 (2016.11); G01M 1/122 (2013.01); G05B 13/048 (2013.01); G05D 1/0274 (2013.01); A61G 2203/36 (2013.01); B60K 1/04 (2013.01); B60K 7/0007 (2013.01); B60L 2200/34 (2013.01); B60L 2220/16 (2013.01); B60L 2240/16 (2013.01); B60L 2240/423 (2013.01); B60L 2240/461 (2013.01); B60W 2300/38 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2530/10 (2013.01); B60W 2554/00 (2020.02); B60W 2710/083 (2013.01); B60W 2720/106 (2013.01); B60W 2720/24 (2013.01); B60Y 2200/84 (2013.01); Y02T 10/64 (2013.01); Y02T 10/72 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method for controlling speed of a mobility device, the mobility device including a plurality of wheels, at least one cluster assembly, and a plurality of sensors, the method comprising:
receiving terrain and obstacle detection data from the plurality of sensors;
mapping terrain and obstacles, if any, in real time based at least on terrain and obstacle detection data;
computing collision-possible areas, if any, based at least on the mapped data;
computing slow-down areas if any, based at least on the mapped data and the speed of the mobility device;
receiving user preferences, if any, with respect to the slow-down areas and desired direction and speed of motion;
computing movement commands to command the plurality of wheels based at least on the collision possible areas, the slow-down areas, and the user preferences; and
providing the movement commands to the plurality of wheels.