초록 ▼

A joint movement detection device and system is presented which is responsive to elbow or wrist movements during use of a manually-propelled wheelchair to enable coordination of assistive motor energization with a user's efforts at self-motivating the manually-propelled wheelchair during driving, st

A joint movement detection device and system is presented which is responsive to elbow or wrist movements during use of a manually-propelled wheelchair to enable coordination of assistive motor energization with a user's efforts at self-motivating the manually-propelled wheelchair during driving, steering, and braking of the wheelchair. Several embodiments are provided which help to ensure user-intended assistive motor output that is responsive to movement of the joint over which the device is worn.

대표청구항 ▼

1. A device responsive to movement of a joint of a user's exertive-arm during use of a manually-propelled wheelchair, the device configured for secure attachment over the joint, the device further configured to preserve the functioning of the user's exertive-arm during use of the manually-propelled

1. A device responsive to movement of a joint of a user's exertive-arm during use of a manually-propelled wheelchair, the device configured for secure attachment over the joint, the device further configured to preserve the functioning of the user's exertive-arm during use of the manually-propelled wheelchair, the device further configured to remain free from contact with a grip surface of the wheelchair during propulsion, steering, and braking of the wheelchair along a desired course, the device comprising: a.) a sensor having electrical resistivity which varies as a result of mechanical deformation of the sensor;b.) a processor circuit configured for generating a control output in response to variation in electrical resistivity of the sensor;c.) an electronic communication means, responsive to the control output of the processor circuit, for sending a control signal to a motor energizing unit to effectuate a motor control function;wherein the device associates movement of the joint of the user's exertive-arm with energization of a motorized wheel assembly to assist the user in navigating the wheelchair along the desired course. 2. The device of claim 1, wherein the motor control function is activated upon a user's joint traversing an activating joint position by bending the joint in a first angular direction. 3. The device of claim 2, wherein the motor control function remains activated while the joint angle remains beyond a deactivating joint position, and wherein the motor propulsion control function becomes de-activated upon bending the joint in an opposing second angular direction to traverse the deactivating joint position. 4. The device of claim 3, wherein the activating joint position and the deactivating joint position define an angular range of separation over which the motor control function remains activated subsequent to bending the joint in the first angular direction to traverse the activating joint position. 5. The device of claim 4, wherein the angular range of separation between the activating joint position and the deactivating joint position is at least about two degrees. 6. The device of claim 4, wherein the angular range of separation is adjustable. 7. The device of claim 1, the sensor comprising an elastic portion having a variable length, wherein the electrical resistivity of the sensor is associated with the variable length of the elastic portion the sensor. 8. The device of claim 1, wherein the electrical resistivity of the sensor is associated with a measured amount of angular deviation of at least a portion of the sensor relative to a straight line passing lengthwise through the sensor. 9. The device of claim 1, further comprising a sensor-fault detection means, wherein an increase in electrical resistivity of the sensor above a predetermined maximum resistivity value prevents or halts activation of the motor control function and wherein a decrease in electrical resistivity of the sensor below a predetermined minimum resistivity value prevents or halts activation of the motor propulsion control function. 10. The device of claim 1, configured for secure attachment to at least a portion of the user's hand. 11. The device of claim 1, configured for secure attachment to at least a portion of the forearm of the exertive-arm. 12. The device of claim 1, adapted to be securely worn over the wrist joint of the exertive-arm. 13. The device of claim 1, adapted to be securely worn over the elbow joint of the exertive-arm. 14. A wheelchair motor control system, comprising: a. a motor unit comprising a motor and a motor controller, said motor configured for driving a ground-contacting wheel about a rotation axis of the wheel, said motor controller configured for drawing electrical current from an electrical power source, said motor controller further configured for regulating an output of electro-motive force, said motor unit configured for applying the output of electro-motive force against a structural member of the wheelchair for assisting a user while navigating the wheelchair along a desired course;b. means for effectuating a motor control function, said means being responsive to joint angle changes accompanying movement of a portion of a user's exertive-arm, said means comprising a sensor having electrical resistivity which varies as a result of mechanical deformation of the sensor during joint angle changes, said means further comprising a signaling means for transmitting a control signal to the motor unit;wherein the wheelchair motor control system coordinates the output of electro-motive force provided by the motor unit with movement of the portion of the user's exertive-arm during navigation of the wheelchair by the user. 15. The wheelchair motor control system of claim 14, the means for effectuating a motor control function configured for performing an intermediary operation which, in turn, transmits the control signal to the motor unit, said intermediary operation comprising a logical state transition between a first logical state and a second logical state, the system configured for responding to bending of the user's joint in an activating direction beyond an angle of activation wherein the system remains in the first logical state until a resistivity value of the resistive sensor traverses an activating threshold value, the system further configured for responding to bending of the user's joint in a deactivating direction beyond an angle of de-activation wherein the system remains in the second logical state until a resistivity value of the resistive sensor traverses a deactivating threshold value, wherein, while the system is in the first logical state, upon the resistivity value of the resistive sensor traversing the activating threshold value, the system is transitioned into the second logical state, and wherein, while the system is in the second logical state, upon the resistivity value of the resistive sensor traversing the deactivating threshold value, the system is transitioned into the first logical state. 16. The wheelchair motor control system of claim 15, wherein a substantial increase in resistivity of the resistive sensor above a maximum resistivity value prevents or halts activation of the motor control function, and wherein a substantial decrease in resistivity of the resistive sensor below a minimum resistivity value prevents or halts activation of the motor control function. 17. The wheelchair motor control system of claim 15, wherein the output amplitude is a function of a repetition, enacted by the user, of the device transitioning between the first logical state and the second logical state. 18. The wheelchair motor control system of claim 15, wherein the output amplitude is a function of a duration of time over which the device is maintained by the user in either the first logical state or the second logical state before enacting a transition therefrom. 19. The wheelchair motor control system of claim 15, wherein the output amplitude is a function of speed, acceleration, or inclination of the wheelchair. 20. A method of enabling coordination of assistive motor energization for a wheelchair with a user's exertive-arm movements during manual navigation of the wheelchair along a desired course, said method comprising: a. configuring a joint movement detection device for secure attachment to the user's exertive-arm and for detecting and responding to angular changes of a joint of the user's exertive-arm during manual navigation of the wheelchair;b. outfitting the wheelchair with a system for receiving a control signal from the joint movement detection device and for generating an output of electro-motive force; wherein the method preserves a propulsive movement pattern performed by the user, and wherein the method preserves a user's ability to enact exertion of muscle-generated force for braking, propelling, and steering of the wheelchair.