Control system for a wheelchair having movable parts

Abstract

The invention relates to a control system for controlling a wheelchair having movable parts. The control system comprises a controller and a number of actuators for effectuating movements of the movable parts. The controller comprises a mathematical model of the kinematics of the movable parts and their respective at least one actuator, means for receiving an input signal from one or more of the actuators, and means for setting, based on the mathematical model, limiting positions of the actuators in response to the determined input signal. The invention also relates to a corresponding wheelchair and method of controlling a wheelchair.

The invention claimed is: 
     
       1. Control system for controlling a wheelchair having movable parts, said control system comprising a controller and a number of actuators for effectuating movements of said movable parts characterised in that
 said controller ( 2 ) comprises a mathematical model of the kinematics of said movable parts ( 31 ,  32 ,  33 ,  34 ,  35 ,  36 ) and a respective at least one actuator (N 1 , N 2 , . . . , N n ), said mathematical model being based on defining a structure of said wheelchair by a number of points, said number of points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions, 
 said controller ( 2 ) comprises means for receiving an input signal from one or more of said actuators (N 1 , N 2 , . . . , N n ), 
 said controller ( 2 ) comprises means for setting, based on said mathematical model, limiting positions of said actuators (N 1 , N 2 , . . . , N n ) in response to said input signal, enabling dynamical alteration of limiting positions of said actuators. 
 
     
     
       2. The control system as claimed in  claim 1 , wherein said actuators (N 1 , N 2 , . . . , N n ) are located at joins of said wheelchair. 
     
     
       3. The control system as claimed in  claim 1 , wherein said controller ( 2 ) is able to handle an arbitrary number of input signals and an arbitrary number of output signals. 
     
     
       4. The control system as claimed in  claim 3 , wherein said output signals are associated with an arbitrary number of constraints. 
     
     
       5. The control system as claimed in  claim 1 , wherein said controller ( 2 ) is a master unit of a local interconnect network. 
     
     
       6. The control system as claimed in  claim 1 , wherein said actuators (N 1 , N 2 , . . . , N n ) comprise electronic circuitry for receiving commands from said controller ( 2 ), thereby setting a dynamically alterable limiting position. 
     
     
       7. The control system as claimed in  claim 1 , wherein said controller ( 2 ) comprises a memory. 
     
     
       8. The control system as claimed in  claim 7 , wherein said memory comprises a configuration file. 
     
     
       9. The control system as claimed in  claim 8 , wherein said configuration file comprises safety limits restricting a speed of said wheelchair when a criteria, as determined based on said input signal, is fulfilled. 
     
     
       10. The control system as claimed in  claim 1 , wherein said control system comprises an additional communication network. 
     
     
       11. The control system as claimed in  claim 1 , wherein one or more of said actuators (N 1 , N 2 , . . . , N n ) comprises a sensor. 
     
     
       12. The control system as claimed in  claim 11 , wherein said sensor is arranged to provide a position of said actuator (N 1 , N 2 , . . . , N n ) in relation to a reference point. 
     
     
       13. The control system as claimed in  claim 1 , wherein said controller ( 2 ) is arranged to receive input signals from at least one external sensor. 
     
     
       14. The control system as claimed in  claim 13 , wherein said at least one external sensor comprises a sensor arranged to sense a weight of a user of said wheelchair. 
     
     
       15. The control system as claimed in  claim 1 , comprising a wheelchair operatively coupled to the control system and wherein said wheelchair further comprises an input device ( 3 ) connected to said controller ( 2 ). 
     
     
       16. The control system as claimed in  claim 15 , wherein said input device ( 3 ) is selected from a group of input devices consisting of a joystick, a keypad, or a touchpad. 
     
     
       17. The control system as claimed in  claim 15 , wherein said movable parts ( 31 ,  32 ,  33 ,  34 ,  35 ,  36 ) comprise at least one of a backrest, a seat, a headrest, armrests, leg rests, and foot rests. 
     
     
       18. A method of controlling a wheelchair having a number of movable parts ( 31 ,  32 ,  33 ,  34 ,  35 ,  36 ), a number of actuators (N 1 , N 2 , . . . , N n ) located in connection with and enabling movement of said movable parts ( 31 ,  32 ,  33 ,  34 ,  35 ,  36 ), and a controller ( 2 ) for controlling movements of said actuators (N 1 , N 2 , . . . , N n ), said method comprising steps of:
 programming said controller ( 2 ) with a mathematical model of the kinematics of said movable parts ( 31 ,  32 ,  33 ,  34 ,  35 ,  36 ) and their respective at least one actuator (N 1 , N 2 , . . . , N n ), said mathematical model being based on defining the structure of a wheelchair by a number of points, said points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions, 
 determining an input value of one or more of said actuators (N 1 , N 2 , . . . , N n ), 
 setting, based on said mathematical model, limiting positions of said actuators (N 1 , N 2 , . . . , N n ) in response to said determined input value. 
 
     
     
       19. The method as claimed in  claim 18 , wherein said controller  5  ( 2 ) handles an arbitrary number of input signals and an arbitrary number of output signals. 
     
     
       20. The method as claimed in  claim 19 , wherein said output signals are associated with an arbitrary number of constraints. 
     
     
       21. The method as claimed in  claim 18 , wherein said mathematical model defines positions and angles of the joints of said wheelchair. 
     
     
       22. A control system for controlling a wheelchair having movable parts, said control system comprising:
 one or more actuators for effectuating movements of said movable parts;   a controller comprising:
 a mathematical model of the kinematics of said movable parts, said mathematical model being based on defining a structure of said wheelchair by a number of points, said number of points comprising locations of joint coupling points of said wheelchair, 
 wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions, 
 wherein said controller receives an input signal from said one or more actuators, 
 and wherein said controller, based on said mathematical model, sets limiting positions of said actuators in response to said input signal, enabling dynamical alteration of a limiting position of at least one of said one or more actuators. 
   
     
     
       23. The control system of claim 22, wherein said actuators are located at joins of said wheelchair. 
     
     
       24. The control system of claim 22, wherein said controller is able to handle an arbitrary number of input signals and an arbitrary number of output signals. 
     
     
       25. The control system of claim 24, wherein said output signals are associated with an arbitrary number of constraints. 
     
     
       26. The control system of claim 22, wherein said controller is a master unit of a local interconnect network. 
     
     
       27. The control system of claim 22, wherein said actuators comprise electronic circuitry for receiving commands from said controller, thereby setting a dynamically alterable limiting position. 
     
     
       28. The control system of claim 22, wherein said controller comprises a memory. 
     
     
       29. The control system of claim 28, wherein said memory comprises a configuration file. 
     
     
       30. The control system of claim 29, wherein said configuration file comprises safety limits restricting a speed of said wheelchair when a criteria, as determined based on said input signal, is fulfilled. 
     
     
       31. The control system of claim 22, wherein said control system comprises an additional communication network. 
     
     
       32. The control system of claim 23, wherein one or more of said actuators comprises a sensor. 
     
     
       33. The control system of claim 32, wherein said sensor is arranged to provide a position of said actuator in relation to a reference point. 
     
     
       34. The control system of claim 22, wherein said controller is arranged to receive input signals from at least one external sensor. 
     
     
       35. The control system of claim 34, wherein said at least one external sensor comprises a sensor arranged to sense a weight of a user of said wheelchair. 
     
     
       36. The control system of claim 22, comprising a wheelchair operatively coupled to the control system and wherein said wheelchair further comprises an input device connected to said controller. 
     
     
       37. The control system of claim 36, wherein said input device is selected from a group of input devices consisting of: a joystick, a keypad, or a touchpad. 
     
     
       38. The control system of claim 36, wherein said movable parts comprise at least one of a backrest, a seat, a headrest, armrests, leg rests, and foot rests. 
     
     
       39. A method of controlling a wheelchair having a number of movable parts, a number of actuators located in connection with and enabling movement of said movable parts, and a controller for controlling movements of said actuators, said method comprising steps of:
 programming said controller with a mathematical model of the kinematics of said movable parts and their respective at least one actuator, said mathematical model being based on defining the structure of a wheelchair by a number of points, said points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions,   determining an input value of one or more of said actuators,   dynamically setting, based on said mathematical model, limiting positions of said actuators in response to said determined input value.   
     
     
       40. The method of claim 39, wherein said controller handles an arbitrary number of input signals and an arbitrary number of output signals. 
     
     
       41. The method of claim 40, wherein said output signals are associated with an arbitrary number of constraints. 
     
     
       42. The method of claim 39, wherein said mathematical model defines positions and angles of the joints of said wheelchair.