Self-assisting robot and method for transferring a paraplegic user to and from a wheel chair

{
  "publication_number": "US9393698B1",
  "country": "US",
  "kind": "B1",
  "title": "Self-assisting robot and method for transferring a paraplegic user to and from a wheel chair",
  "abstract": "A self-assisting robot for assisting a paraplegic user is disclosed which comprises a platform having a plurality of wheels, a robotic arm, an inclination sensor, operable to measure the inclination angle formed between said platform and a road in front thereof, a saddle configured to be adjusted up and down to fit the height of a user, a controller panel connected to said saddle, a processor operable to control the operations of the self-assisting robot, and a kneeling seat connected to and move with the robotic arm.",
  "claims": [
    "1. A self-assisting robot for assisting a paraplegic user, comprising: a platform having a first wheel, a second wheel, a third wheel, a fourth wheel, and a fifth wheel connected on the bottom side of said platform; a robotic arm, connected to said platform on the top side of said platform; an inclination sensor, connected to said robotic arm, operable to measure the inclination angle formed between said platform and a road in front thereof; a saddle connected to said robotic arm and configured to be adjusted up and down to fit with the height of a user; a controller panel connected to said saddle; a controller electrically connected to said controller panel and operable to control the operations of said self-assisting robot; and a kneeling seat connected to said robotic arm, operable to move with said robotic arm, wherein said controller box is configured to cause said saddle and said kneeling seat to lean toward a user when a first command is entered, to cause said saddle and said kneeling seat to rotate toward a toilet seat upon the execution of a second command or after a predetermined amount of time has passed, and to cause said saddle and said seat to return to an initial resting position.",
    "2. The self-assisting robot of claim 1 further comprises a distance sensor connected to said robotic arm, operable to sense the distance between a wheel chair of said user and said self-assisting robot.",
    "3. The self-assisting robot of claim 1 wherein said first wheel, said fourth wheel, and said fifth wheel are a caster wheel and wherein said first wheel is positioned in front of the bottom side of said platform, said fourth wheel and said fifth wheel are located in the rear of the bottom side of said platform.",
    "4. The self-assisting robot of claim 1 wherein said second wheel and third wheel is connected to a first motor and said third wheel is connected to a second motor, both said first motor and said second motor are controlled by said controller.",
    "5. The self-assisting robot of claim 1 wherein said saddle is configured to adjust to a maximum height of 80 cm.",
    "6. The self-assisting robot of claim 1 wherein said platform has a width of 35 cm and a length of 50 cm.",
    "7. The self-assisting robot of claim 1 wherein said kneeling seat has a front side connected to said robotic arm and bendable legs connected to said platform so that when said robotic arm leans forward to said user said kneeling seat is also bent forward to receive said user.",
    "8. The self-assisting robot of claim 1 wherein said robotic arm further comprises a third motor configured to cause said robotic arm to incline toward said user.",
    "9. The self-assisting robot of claim 8 wherein said third motor further comprises a DC motor and a worm gear.",
    "10. The self-assisting robot of claim 9 wherein said third motor further comprises a potential meter configured to measure the height of the current location of said user.",
    "11. The self-assisting robot of claim 10 wherein said saddle is connected to a fourth motor operable to raise and lower said saddle depending on the measurement from said potential meter.",
    "12. The self-assisting robot of claim 1 wherein said robotic arm forms a 90 degrees with said platform at an initial rest position and a maximum inclination angle of 64 degrees toward said user with said platform.",
    "13. The self-assisting robot of claim 1 further comprises a remote controller operable to control said self-assertive robot remotely in place of said control panel.",
    "14. The self-assisting robot of claim 1 further comprises sensor for sensing the inclination angle of said self-assertive robot and the road, wherein said inclination sensor sends an alarm signal to said user if the detected inclination angle an inclination surpasses a safe threshold angle.",
    "15. The self-assisting robot of claim 1 further comprising a sleep mode detector, electrically connected to said processor, operable to detect when said self-assisting robot are in a rest mode and turn off a power supply.",
    "16. The self-assisting robot of claim 1 further comprises a power supply of 24 volts.",
    "17. A method of using a self-assisting robot comprising a base, a robotic arm, a kneeling seat connected to and moving with said robotic arm, a saddle, and a controller, comprising: moving said self-assisting robot to a user; upon arrival at the user's location, causing said robotic arm to lean toward said user; leaning on said saddle to control said self-assertive robot; transferring said user from a wheel chair to said kneeling seat; moving said self-assisting robot to a toilet; rotating said platform to orient said user to a desired direction for sitting onto the toilet; and moving said user from said kneeling seat to said toilet.",
    "18. The method of claim 16 further comprising measuring the inclination angle between said platform and the road, generating an alarming sound and stop said self-assisting robot when said inclination angle is greater than a predetermined safe angle.",
    "19. The method of claim 16 wherein said moving said self-assisting robot further comprises remote controlling said self-assisting robot to move toward said user using a first motor and a second motor, wherein said causing said robotic arm to lean toward said user further comprising using a third motor, and wherein said rotating said platform to orient said user to a desired direction further comprising using a fourth motor which further comprises a DC motor and a worm gear.",
    "20. The method of claim 16 further comprising measuring the state of said self-assisting robot whether it is in a resting mode or active mode, if said self-assisting robot is in the restive mode, communicating with said processor to turn off the power supply to said self-assisting robot.",
    "21. The method of claim 16 further comprising measuring the height of said user's seat and lowering or raising said robotic arm and said kneeling seat to the level of said user when said self-assisting robotic is moving toward said user."
  ],
  "description_excerpt": "The present invention relates generally to the field of medical device. More specifically, the present invention relates to a robot that assists a user to transfer from a wheel chair to another location and vice versa.\n\nThere are three different types of devices that assist a user from a wheel chair. The first type is the simple mechanical type without any automatic mechanism to assist the transferring of the user to and from the wheel chair that needs the assistance of a nurse to transfer the user from a wheel chair. The second type is the semi-automatic device that still needs some human assistance. The third type is the fully automatic device that does not need the assistance of a nurse. It is easy to understand that the first type of user transfer device is inconvenient for both the user and a nurse because the user needs complete assistance from the nurse. Furthermore, to reduce the human assistance in the first type of user transfer device, either a specially designed toilet (self-rotating toilet seat) or a user lift hanging from the ceiling needs to be deployed. These types of devices increase costs and still require full assistance from a nurse. In the semi-automatic user transfer devices, a special cart is provided just to move a user to and from a toilet seat. At the toilet seat or the wheel chair, a nurse needs to present in order to move the user onto the toilet seat or back to the wheel chair. These devices cost money and still require human labor.\n\nFinally, in the conventional automatic user transfer devices such as the self-transfer aid robotics by Yoshihiko Takahashi.",
  "cpc": [
    "A61G 5/04",
    "A61G 2203/42",
    "A61G 5/1075",
    "A61G 5/14",
    "A61G 7/1007",
    "A61G 7/1025",
    "A61G 7/1036",
    "A61G 7/1046",
    "A61G 7/1059",
    "A61G 7/1063",
    "B25J 11/009",
    "B25J 5/007",
    "B60K 1/02",
    "Y10S 901/01"
  ],
  "ipc": [
    "A61G 5/04",
    "A61G 5/10",
    "A61G 5/14",
    "B25J 11/00",
    "B25J 5/00",
    "B60K 1/02"
  ],
  "assignees": [
    "VO DUY HOANG",
    "Ton Duc Thang University"
  ],
  "inventors": [
    "VO DUY HOANG"
  ],
  "filing_date": "2015-08-17",
  "publication_date": "2016-07-19",
  "grant_date": "2016-07-19",
  "priority_date": "2015-08-17",
  "application_number": "US-201514828440-A",
  "family_id": "56381497",
  "citations": [
    "US2014289960A1",
    "US2015342817A1",
    "US5368362A",
    "US5953774A"
  ]
}