US 12,064,390 B2
Powered walking assistant and associated systems and methods
Sunil K. Agrawal, Newark, DE (US); Danielle Stramel, New York, NY (US); and Robert M. Carrera, New York, NY (US)
Assigned to The Trustees of Columbia University in the City of New York, New York, NY (US)
Filed by The Trustees of Columbia University in the City of New York, New York, NY (US)
Filed on Apr. 30, 2020, as Appl. No. 16/863,005.
Application 16/863,005 is a continuation in part of application No. 15/950,946, filed on Apr. 11, 2018, abandoned.
Claims priority of provisional application 62/876,224, filed on Jul. 19, 2019.
Claims priority of provisional application 62/484,170, filed on Apr. 11, 2017.
Prior Publication US 2020/0323727 A1, Oct. 15, 2020
Int. Cl. B25J 11/00 (2006.01); A61H 3/00 (2006.01); A61H 3/02 (2006.01); A61H 3/04 (2006.01); G05D 1/00 (2006.01); G06F 3/01 (2006.01)
CPC A61H 3/04 (2013.01) [A61H 3/00 (2013.01); A61H 3/02 (2013.01); B25J 11/008 (2013.01); G05D 1/0236 (2013.01); G05D 1/0244 (2013.01); G05D 1/12 (2013.01); G06F 3/014 (2013.01); A61H 2003/043 (2013.01); A61H 2201/0157 (2013.01); A61H 2201/1635 (2013.01); A61H 2201/1659 (2013.01); A61H 2201/5007 (2013.01); A61H 2201/5046 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5071 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mobile assistant platform for helping a user with movement disabilities, comprising:
a robotic vehicle;
a two-link arm having a lower shaft that extends upwards with respect to the robotic vehicle and is connected to the robotic vehicle via a first joint, an upper shaft that extends upwards with respect to the lower shaft and is connected to the lower shaft via a second joint, and a handle connected the upper shaft, wherein the handle is positioned at a height suitable for a walking cane, and wherein the handle is movable by means of said two-link arm, to multiple heights in a range around said height suitable for a walking cane;
a digital processor connected to the robotic vehicle to control it;
at least one force sensor in at least one of the handle and the two-link arm connected to apply force signals the digital processor; and
a user-position and orientation detecting device connected to apply configuration signals to the robotic vehicle, the user-position and orientation detecting device being physically connected to one or more of the robotic vehicle, a region outside the robotic vehicle, or on the user, alone or in combination.