US 12,274,662 B2
Robotic rollator walker with automated power drive
Duncan Anthony Orrell-Jones, Manhattan Beach, CA (US); Amir Hajiloo, Long Beach, CA (US); and Matthew John Sampson, Lomita, CA (US)
Assigned to CAMINO ROBOTICS, INC., Torrance, CA (US)
Filed by Duncan Anthony Orrell-Jones, Manhattan Beach, CA (US); Amir Hajiloo, Long Beach, CA (US); and Matthew John Sampson, Lomita, CA (US)
Filed on Aug. 16, 2021, as Appl. No. 17/403,623.
Claims priority of provisional application 63/065,959, filed on Aug. 14, 2020.
Prior Publication US 2022/0110818 A1, Apr. 14, 2022
Int. Cl. A61H 3/04 (2006.01)
CPC A61H 3/04 (2013.01) [A61H 2003/043 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A walker with automated power drive, the walker comprising:
a rigid frame comprising a left grip and a right grip;
a plurality of wheels affixed to the rigid frame;
a plurality of drive motors integrally mounted in the plurality of wheels; and
a drive motor controller configured to power the plurality of drive motors, wherein the controller is configured to:
a) determine an orientation of the walker,
b) generate a first motor current component based on the orientation of the walker;
c) determine a speed of the walker;
d) generate a second motor current component based on the speed of the walker,
e) determine a user force applied to the left grip and right grip; wherein the user force applied to the left grip and right grip is determined based on a difference between a target current provided to the drive motors and a measured current from the drive motors;
f) generate a third motor current component for each of the plurality of drive motors based on the user force applied to the left grip and right grip; and
g) power each of the plurality of drive motors based on a sum of the first motor current component, second motor current component, and third motor current component.