U.S. patent application number 14/835908 was filed with the patent office on 2016-10-13 for smart cane with extensions for navigating stairs.
The applicant listed for this patent is Elwha LLC. Invention is credited to William David Duncan, Roderick A. Hyde, Jordin T. Kare.
Application Number | 20160295978 14/835908 |
Document ID | / |
Family ID | 57111461 |
Filed Date | 2016-10-13 |
United States Patent
Application |
20160295978 |
Kind Code |
A1 |
Hyde; Roderick A. ; et
al. |
October 13, 2016 |
SMART CANE WITH EXTENSIONS FOR NAVIGATING STAIRS
Abstract
Devices and systems are described including a walking aid
including a linear rod having a first end and a second end, a hand
grip disposed in proximity to the first end of the linear rod, two
or more extendable and retractable self-leveling load-bearing feet
at the second end of the linear rod, at least one sensor configured
to detect a parameter of a walking surface in proximity to the
second end of the linear rod, and a controller including a
microprocessor and circuitry, the controller operably coupled to
the two or more extendable and retractable self-leveling
load-bearing feet and the at least one sensor, and including
circuitry configured to receive information regarding the detected
parameter of the walking surface from the at least one sensor and
circuitry configured to actuate at least one of the two or more
extendable and retractable self-leveling load-bearing feet in
response to the information regarding the detected parameter of the
walking surface.
Inventors: |
Hyde; Roderick A.; (Redmond,
WA) ; Kare; Jordin T.; (San Jose, CA) ;
Duncan; William David; (Mill Creek, WA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Elwha LLC |
Bellevue |
WA |
US |
|
|
Family ID: |
57111461 |
Appl. No.: |
14/835908 |
Filed: |
August 26, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
14684853 |
Apr 13, 2015 |
|
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|
14835908 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01B 21/20 20130101;
G01B 21/30 20130101; A61H 2003/0272 20130101; A45B 2009/002
20130101; A61H 3/00 20130101; A45B 9/02 20130101; A61H 2201/5084
20130101; A61H 2201/5048 20130101; A61H 2201/5092 20130101; G01B
21/16 20130101; A61H 3/0288 20130101; A45B 2009/005 20130101; A61H
3/061 20130101; A45B 3/00 20130101; A61H 2201/5061 20130101; G08B
21/0461 20130101; G08B 21/02 20130101; A61H 2201/0192 20130101;
A61H 2201/5058 20130101; A45B 9/04 20130101; A61H 3/068 20130101;
A61H 3/02 20130101; A61H 2201/5069 20130101 |
International
Class: |
A45B 3/00 20060101
A45B003/00; A45B 9/04 20060101 A45B009/04; G01B 21/00 20060101
G01B021/00; A45B 9/02 20060101 A45B009/02 |
Claims
1. A walking aid comprising: a linear rod having a first end and a
second end; a hand grip disposed in proximity to the first end of
the linear rod; two or more extendable and retractable load-bearing
feet at the second end of the linear rod, wherein at least one of
the two or more extendable and retractable load-bearing feet has
two or more telescoping segments; at least one sensor configured to
detect a parameter of a walking surface in proximity to the second
end of the linear rod; and a controller including a microprocessor
and circuitry, the controller operably coupled to the two or more
extendable and retractable load-bearing feet and the at least one
sensor and including circuitry configured to receive information
regarding the detected parameter of the walking surface from the at
least one sensor and circuitry configured to actuate at least one
of the two or more extendable and retractable load-bearing feet in
response to the information regarding the detected parameter of the
walking surface.
2. The walking aid of claim 1, comprising a user-activated control
mechanism to control extension and retraction of the two or more
extendable and retractable load-bearing feet.
3.-4. (canceled)
5. (canceled)
6. The walking aid of claim 1, wherein at least one of the two or
more extendable and retractable load-bearing feet has a pivot at a
connection to the linear rod.
7. The walking aid of claim 1, wherein at least one of the two or
more extendable and retractable load-bearing feet has a pivot at a
connection to the linear rod and one or more additional pivots
along a length of the at least one of the two or more extendable
and retractable load-bearing feet.
8. The walking aid of claim 1, wherein at least one of the two or
more extendable and retractable load-bearing feet is rotatable.
9. (canceled)
10. The walking aid of claim 1, wherein at least one of the two or
more extendable and retractable load-bearing feet is configured to
retract for storage on a side of the linear rod.
11. The walking aid of claim 1, wherein at least one of the two or
more extendable and retractable load-bearing feet is configured to
retract for storage into an interior portion of the linear rod.
12. The walking aid of claim 1, wherein the at least one sensor
comprises a tactile sensor, tilt sensor, an inclinometer, a texture
sensor, an accelerometer, or a gyroscope.
13.-17. (canceled)
18. The walking aid of claim 1, wherein the at least one sensor
comprises at least one camera.
19. (canceled)
20. The walking aid of claim 1, wherein the at least one sensor
includes at least one proximity sensor.
21. The walking aid of claim 1, wherein the at least one sensor
includes at least one pressure sensor.
22. The walking aid of claim 1, wherein the parameter of the
walking surface includes at least one of a surface type, a friction
coefficient, a roughness, a slope, an edge, a height, a distance,
or a bump.
23. (canceled)
24. The walking aid of claim 1, wherein the controller includes
circuitry configured to actuate extension or retraction of at least
one of the two or more extendable and retractable load-bearing feet
in response to the information regarding the detected parameter of
the walking surface before the at least one of the two or more
extendable and retractable load-bearing feet contacts the walking
surface.
25. (canceled)
26. The walking aid of claim 1, wherein the controller includes
circuitry configured to independently and automatically actuate the
two or more extendable and retractable load-bearing feet to a
configuration based on a position of the walking aid relative to
the walking surface.
27. The walking aid of claim 1, wherein the controller includes
circuitry configured to independently and automatically actuate the
two or more extendable and retractable load-bearing feet to a
configuration based on a position variance of the walking aid from
vertical.
28. The walking aid of claim 1, comprising at least one second
sensor configured to detect a parameter of the walking aid.
29. The walking aid of claim 28, wherein the parameter of the
walking aid comprises at least one of tip motion, movement,
position relative to the walking surface, tilt angle relative to
the walking surface, or distance from the walking surface.
30. The walking aid of claim 28, wherein the controller is operably
coupled to the at least one second sensor, the controller including
circuitry configured to receive information regarding the detected
parameter of the walking aid from the at least one second sensor
and circuitry configured to actuate at least one of the two or more
extendable and retractable load-bearing feet in response to the
information regarding the detected parameter of the walking
aid.
31. The walking aid of claim 30, wherein the controller includes
circuitry configured to actuate the at least one of the two or more
extendable and retractable load-bearing feet in response to
movement of the walking aid after it loses contact with the walking
surface.
32. (canceled)
33. The walking aid of claim 30, wherein the controller includes
circuitry configured to actuate the at least one of the two or more
extendable and retractable load-bearing feet to orient said at
least one of the two or more extendable and retractable
load-bearing feet relative to an orientation of the walking
aid.
34.-36. (canceled)
37. The walking aid of claim 1, comprising a mechanical energy
harvester configured to store electrical or mechanical energy to
power actuation of the two or more extendable and retractable
load-bearing feet.
38. The walking aid of claim 1, comprising a warning system
operably coupled to the controller and configured to alert a user,
wherein the warning system comprises at least one of an audible
warning system, an optical warning system, or a haptic warning
system.
39. (canceled)
40. A system, comprising: a walking aid including a linear rod
having a first end and a second end; a hand grip disposed in
proximity to the first end of the linear rod; two or more
extendable and retractable load-bearing feet at the second end of
the linear rod; at least one receiver; and a controller attached to
the linear rod and operably coupled to the at least one receiver
and to the two or more extendable and retractable load-bearing
feet; and a remote signaling device in wireless communication with
the at least one receiver of the walking aid, the remote signaling
device configured to transmit a signal, wherein the at least one
receiver is configured to receive the signal from the remote
signaling device and configured to transform the signal into
information regarding a location of the walking aid in an
environment, wherein the controller includes circuitry configured
to actuate at least one of the two or more extendable and
retractable load-bearing feet based on the information regarding
the location of the walking aid in the environment; and wherein the
controller includes circuitry configured to correlate the
information regarding the location of the walking aid in the
environment with a map of the environment.
41. The system of claim 40, wherein the walking aid includes at
least one sensor operably coupled to the controller and configured
to detect a parameter of a walking surface in proximity to the
walking aid, wherein the controller includes circuitry configured
to receive information regarding the detected parameter of the
walking surface from the at least one sensor and circuitry
configured to actuate at least one of the two or more extendable
and retractable load-bearing feet in response to the information
regarding the detected parameter of the walking surface.
42. The system of claim 41, wherein the at least one sensor
comprises at least one of a tactile sensor, a tilt sensor, an
inclinometer, a texture sensor, an accelerometer, a gyroscope, a
camera, a whisker sensor, a proximity sensor, or a pressure
sensor.
43. (canceled)
44. The system of claim 40, wherein the at least one receiver
comprises an electromagnetic signal receiver, a radiofrequency
signal receiver, a photodetector, or an infrared sensor.
45. The system of claim 40, wherein the at least one receiver
comprises at least one magnetic signal receiver.
46.-48. (canceled)
49. The system of claim 40, wherein the at least one receiver
comprises at least one microphone.
50. The system of claim 40, wherein the remote signaling device
includes one or more beacons.
51. The system of claim 50, wherein at least one of the one or more
beacons emits a radio signal, a magnetic signal, an acoustic
signal, an electromagnetic signal, or an optical signal.
52. The system of claim 40, wherein the remote signaling device
includes an electromagnetic signal generator, a microwave signal
generator, a magnetic signal generator, or an acoustic signal
generator.
53. The system of claim 40, wherein the remote signaling device
includes at least one of a radiofrequency signal generator and a
radiofrequency signal receiver.
54.-57. (canceled)
58. The system of claim 40, wherein the remote signaling device
includes a local positioning system.
59. (canceled)
60. (canceled)
61. The system of claim 40, wherein at least one of the two or more
extendable and retractable load-bearing feet has a pivot at a
connection to the linear rod and two or more telescoping
segments.
62. The system of claim 40, wherein at least one of the two or more
extendable and retractable load-bearing feet has a pivot at a
connection to the linear rod and one or more additional pivots
along a length of the at least one of the two or more extendable
and retractable load-bearing feet.
63. The system of claim 40, wherein at least one of the two or more
extendable and retractable load-bearing feet is configured to
retract for storage on a side of the linear rod.
64. The system of claim 40, wherein at least one of the two or more
extendable and retractable load-bearing feet is configured to
retract for storage into an interior portion of the linear rod.
65. The system of claim 40, wherein the walking aid includes at
least one second sensor operably coupled to the controller and
configured to detect a parameter of the walking aid, wherein the
controller includes circuitry configured to receive information
regarding the detected parameter of the walking aid from the at
least one second sensor and circuitry configured to actuate at
least one of the two or more extendable and retractable
load-bearing feet in response to the information regarding the
detected parameter of the walking aid.
66. (canceled)
67. The system of claim 40, wherein the walking aid includes a
mechanical energy harvester configured to store electrical or
mechanical energy to power actuation of the two or more extendable
and retractable load-bearing feet.
68. The system of claim 40, wherein the walking aid includes a
warning system operably coupled to the controller and configured to
alert a user.
69. The walking aid of claim 28, wherein the at least one second
sensor configured to detect the parameter of the walking aid
comprises at least one of a tactile sensor, a tilt sensor, an
inclinometer, an accelerometer, a gyroscope, a camera, a whisker
sensor, a proximity sensor, or a pressure sensor.
Description
[0001] If an Application Data Sheet (ADS) has been filed on the
filing date of this application, it is incorporated by reference
herein. Any applications claimed on the ADS for priority under 35
U.S.C. .sctn..sctn.119, 120, 121, or 365(c), and any and all
parent, grandparent, great-grandparent, etc. applications of such
applications, are also incorporated by reference, including any
priority claims made in those applications and any material
incorporated by reference, to the extent such subject matter is not
inconsistent herewith.
CROSS-REFERENCE TO RELATED APPLICATIONS
[0002] The present application claims the benefit of the earliest
available effective filing date(s) from the following listed
application(s) (the "Priority Applications"), if any, listed below
(e.g., claims earliest available priority dates for other than
provisional patent applications or claims benefits under 35 USC
.sctn.119(e) for provisional patent applications, for any and all
parent, grandparent, great-grandparent, etc. applications of the
Priority Application(s)).
PRIORITY APPLICATIONS
[0003] The present application constitutes a continuation-in-part
of U.S. patent application Ser. No. 14/684,853, entitled STRUCTURAL
FRAME TO ASSIST PATIENTS AND METHODS OF USE THEREOF, naming
Mahalaxmi Gita Bangera, Jesse R. Cheatham, III, Hon Wah Chin,
Roderick A. Hyde, Muriel Y. Ishikawa, Jordin T. Kare, Eric C.
Leuthardt, Robert W. Lord, Richard T. Lord, Robert C. Petroski,
Clarence T. Tegreene, Lowell L. Wood, Jr. as inventors, filed 13,
April, 2015 with attorney docket no. 0313-006-001-000000, which is
currently co-pending or is an application of which a currently
co-pending application is entitled to the benefit of the filing
date.
[0004] If the listings of applications provided above are
inconsistent with the listings provided via an ADS, it is the
intent of the Applicant to claim priority to each application that
appears in the Domestic Benefit/National Stage Information section
of the ADS and to each application that appears in the Priority
Applications section of this application.
[0005] All subject matter of the Priority Applications and of any
and all applications related to the Priority Applications by
priority claims (directly or indirectly), including any priority
claims made and subject matter incorporated by reference therein as
of the filing date of the instant application, is incorporated
herein by reference to the extent such subject matter is not
inconsistent herewith.
SUMMARY
[0006] In an aspect, a walking aid includes, but is not limited to,
a linear rod having a first end and a second end; a hand grip
disposed in proximity to the first end of the linear rod; two or
more extendable and retractable self-leveling load-bearing feet at
the second end of the linear rod; at least one sensor configured to
detect a parameter of a walking surface in proximity to the second
end of the linear rod; and a controller including a microprocessor
and circuitry, the controller operably coupled to the two or more
extendable and retractable self-leveling load-bearing feet and the
at least one sensor and including circuitry configured to receive
information regarding the detected parameter of the walking surface
from the at least one sensor and circuitry configured to actuate at
least one of the two or more extendable and retractable
self-leveling load-bearing feet in response to the information
regarding the detected parameter of the walking surface. In
addition to the foregoing, other walking aid aspects are described
in the claims, drawings, and text forming a part of the present
disclosure.
[0007] In an aspect, a system includes, but is not limited to, a
walking aid including a linear rod having a first end and a second
end; a hand grip disposed in proximity to the first end of the
linear rod; two or more extendable and retractable self-leveling
load-bearing feet at the second end of the linear rod; at least one
receiver; and a controller attached to the linear rod and operably
coupled to the at least one receiver and to the two or more
extendable and retractable self-leveling load-bearing feet; and a
remote signaling device in wireless communication with the at least
one receiver of the walking aid, the remote signaling device
configured to transmit a signal, wherein the at least one receiver
is configured to receive the signal from the remote signaling
device and configured to transform the signal into information
regarding a location of the walking aid in an environment, and
wherein the controller includes circuitry configured to actuate at
least one of the two or more extendable and retractable
self-leveling load-bearing feet based on the information regarding
the location of the walking aid in the environment. In addition to
the foregoing, other system aspects are described in the claims,
drawings, and text forming a part of the present disclosure.
[0008] The foregoing summary is illustrative only and is not
intended to be in any way limiting. In addition to the illustrative
aspects, embodiments, and features described above, further
aspects, embodiments, and features will become apparent by
reference to the drawings and the following detailed
description.
BRIEF DESCRIPTION OF THE FIGURES
[0009] FIG. 1A is a schematic of a walking aid and a user on a flat
walking surface.
[0010] FIG. 1B is a schematic of a walking aid and a user on a
stepped walking surface.
[0011] FIG. 2A is a schematic of a walking aid on a flat walking
surface.
[0012] FIG. 2B is a schematic of a walking aid on a stepped walking
surface.
[0013] FIG. 3A is a schematic of an extendable and retractable
self-leveling load-bearing foot with two or more telescoping
segments in a retracted state.
[0014] FIG. 3B is a schematic of an extendable and retractable
self-leveling load-bearing foot with two or more telescoping
segments in an extended state.
[0015] FIG. 3C is a schematic of an extendable and retractable
self-leveling load-bearing foot with a pivot connection and two or
more telescoping segments in a retracted state.
[0016] FIG. 3D is a schematic of an extendable and retractable
self-leveling load-bearing foot with a pivot connection and two or
more telescoping segments in an extended state.
[0017] FIG. 3E is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet with a pivot connection
and two or more telescoping segments on a flat walking surface.
[0018] FIG. 3F is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet with a pivot connection
and two or more telescoping segments on an uneven walking
surface.
[0019] FIG. 3G is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet with a pivot connection
and two or more telescoping segments on a stepped walking
surface.
[0020] FIG. 4A is a schematic of an extendable and retractable
self-leveling load-bearing foot with a pivot.
[0021] FIG. 4B is a schematic of an extendable and retractable
self-leveling load-bearing foot with two pivots.
[0022] FIG. 4C is a schematic of an extendable and retractable
self-leveling load-bearing foot with three pivots.
[0023] FIG. 4D is a schematic of an extendable and retractable
self-leveling load-bearing foot with a pivoting foot pad.
[0024] FIG. 4E is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet with pivots on a flat
walking surface.
[0025] FIG. 4F is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet with pivots on an
uneven walking surface.
[0026] FIG. 4G is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet with pivots on a
stepped walking surface.
[0027] FIG. 5A is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet retracted for storage
within an interior portion of the linear rod.
[0028] FIG. 5B is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet pushed out of an
interior portion of the linear rod.
[0029] FIG. 5C is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet extended for use.
[0030] FIG. 6A is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet retracted for storage
along a side of the linear rod.
[0031] FIG. 6B is a schematic of a walking aid with extendable and
retractable self-leveling load-bearing feet extended for use.
[0032] FIG. 7 shows further aspects of a walking aid such as
depicted in FIG. 2A.
[0033] FIG. 8 shows further aspects of a walking aid such as
depicted in FIG. 2A.
[0034] FIG. 9 is a schematic of a system including a walking aid
and a remote signaling device and a user near a stepped walking
surface.
[0035] FIG. 10 is a schematic of a system including a walking aid
and a remote signaling device.
DETAILED DESCRIPTION
[0036] In the following detailed description, reference is made to
the accompanying drawings, which form a part hereof. In the
drawings, similar symbols typically identify similar components,
unless context dictates otherwise. The illustrative embodiments
described in the detailed description, drawings, and claims are not
meant to be limiting. Other embodiments may be utilized, and other
changes may be made, without departing from the spirit or scope of
the subject matter presented here.
[0037] Described herein are walking aids configured to help a user
walk on a walking surface. More specifically, described herein are
walking aides including extendable and retractable self-leveling
load-bearing feet for stabilizing a walking aid and a user while
walking on an uneven walking surface.
[0038] With reference to FIGS. 1A and 1B, shown is an example of a
walking aid which can serve as a context for one or more devices,
systems, and/or methods described herein. FIG. 1A shows a walking
aid 100 including two or more extendable and retractable
self-leveling load-bearing feet 110. Walking aid 100 is shown in
use by user 120 on a flat walking surface 130. FIG. 1B shows user
120 using walking aid 100 on a stepped walking surface 140. In this
non-limiting example, the two or more extendable retractable
self-leveling load-bearing feet 110a are individually extended or
retracted as needed to aid and stabilize the user 120 while
climbing the stepped walking surface 140.
[0039] A walking aid such as described herein is configured for use
on a variety of walking surfaces. In an aspect, the walking surface
includes a sidewalk, a street, a dedicated walking path, a cobble
stone or brick path, a dirt path, a grassy path, or a rocky path.
In an aspect, the walking surface is uneven. For example, the
walking surface can include an asphalt street including "pot
holes". For example, the walking surface can include a concrete
sidewalk or dedicated walking path with buckled, broken, or uneven
segments of concrete. For example, the walking surface can include
a hiking trail with inclines and declines, rocks or boulders, tree
roots, or other obstacles creating an uneven walking surface. In an
aspect, the walking surface includes a slope, e.g., an incline or a
decline. In an aspect, the walking surface includes a walking
surface in a home or other building. In an aspect, the walking
surface in a home or other building includes a carpeted walking
surface, a hardwood floor walking surface, a laminate or linoleum
walking surface, a tiled walking surface, or a stepped walking
surface (e.g., a staircase). In an aspect, the walking surface
includes a ramp with an inclined or declined slope. In an aspect,
the walking surface includes a moving waking surface, e.g., a
moving sidewalk or an escalator.
[0040] FIGS. 2A and 2B illustrate further aspects of a walking aid.
FIG. 2A shows a schematic of walking aid 200 on walking surface
280, e.g., a relatively flat walking surface. Walking aid 200
includes a linear rod 210 having a first end 220 and a second end
230 and hand grip 240 disposed in proximity to the first end 220 of
linear rod 210. Walking aid 200 further includes two or more
extendable and retractable self-leveling load-bearing feet 250 at
the second end 230 of linear rod 210. Walking aid 200 includes at
least one sensor 260 configured to detect a parameter of a walking
surface 280 in proximity to the second end 230 of linear rod 210.
Walking aid 200 includes a controller 270 including a
microprocessor 272 and circuitry 274. Controller 270 is operably
coupled to the two or more extendable and retractable self-leveling
load-bearing feet 250 and the at least one sensor 260. Controller
270 includes circuitry configured to receive information regarding
the detected parameter of the walking surface 280 from the at least
one sensor 260 and circuitry configured to actuate at least one of
the two or more extendable and retractable self-leveling
load-bearing feet 250 in response to the information regarding the
detected parameter of the walking surface 280.
[0041] FIG. 2B shows a schematic of walking aid 200 on walking
surface 290, e.g., an uneven walking surface. Walking aid 200
includes linear rod 210 and hand grip 240. Walking aid 200 further
includes two or more extendable and retractable self-leveling
load-bearing feet 250a which have been individually extended or
retracted to accommodate the uneven surface represented by walking
surface 290. Walking aid 200 includes at least one sensor 260
configured to detect a parameter, e.g., an unevenness, of walking
surface 290 and controller 270 includes circuitry configured to
receive information regarding the detected parameter of walking
surface 290 from the at least one sensor 260 and circuitry
configured to actuate at least one of the two or more extendable
and retractable self-leveling load-bearing feet 250a in response to
the information regarding the detected parameter of walking surface
290.
[0042] A walking aid such as described herein includes a linear
rod. The linear rod provides the main structural support or shaft
for the walking aid. The first end of the linear rod serves as a
connection point for a hand grip. The second end of the linear rod
serves as a connection point for the two or more extendable and
retractable self-leveling load-bearing feet. In an aspect, the
linear rod provides an attachment point for the at least one sensor
and the controller. In some embodiments, the linear rod provides an
attachment point for one or more additional components of the
walking aid. For example, the linear rod can provide an attachment
point for a user-activated control mechanism, a user interface, at
least one second sensor, an actuator, a mechanical energy
harvester, a power source, and/or a warning system.
[0043] In an aspect, the linear rod comprises a cylindrical rod
that is circular in transverse cross-section. Alternatively, the
linear rod may have a non-circular transverse cross-section. For
example, the linear rod can be oval, square, triangular, or
polygonal in transverse cross-section. In an aspect, the diameter
or width of the linear rod is about 0.5 inches to about 3.0 inches.
For example, the diameter or width of the linear rod can be 0.5
inches, 0.6 inches, 0.7 inches, 0.8 inches, 0.9 inches, 1.0 inches,
1.1 inches, 1.2 inches, 1.3 inches, 1.4 inches, 1.5 inches, 1.6
inches, 1.7 inches, 1.8 inches, 1.9 inches, 2.0 inches, 2.1 inches,
2.2 inches, 2.3 inches, 2.4 inches, 2.5 inches, 2.6 inches, 2.7
inches, 2.8 inches, 2.9 inches, or 3.0 inches. A linear rod with a
greater or lesser diameter or width is contemplated and may depend
upon the composition and/or configuration of the linear rod.
[0044] In an aspect, the linear rod is about 12 inches to about 50
inches in length. For example, the linear rod can be 12 inches,
12.5 inches, 13 inches, 13.5 inches, 14 inches, 14.5 inches, 15
inches, 15.5 inches, 16 inches, 16.5 inches, 17 inches, 17.5
inches, 18 inches, 18.5 inches, 19 inches, 19.5 inches, 20 inches,
20.5 inches, 21 inches, 21.5 inches, 22 inches, 22.5 inches, 23
inches, 23.5 inches, 24 inches, 24.5 inches, 25 inches, 25.5
inches, 26 inches, 26.5 inches, 27 inches, 27.5 inches, 28 inches,
28.5 inches, 29 inches, 29.5 inches, 30 inches, 30.5 inches, 31
inches, 31.5 inches, 32 inches, 32.5 inches, 33 inches, 33.5
inches, 34 inches, 34.5 inches, 35 inches, 35.5 inches, 36 inches,
36.5 inches, 37 inches, 37.5 inches, 38 inches, 38.5 inches, 39
inches, 39.5 inches, 40 inches, 40.5 inches, 41 inches, 41.5
inches, 42 inches, 42.5 inches, 43 inches, 43.5 inches, 44 inches,
44.5 inches, 45 inches, 45.5 inches, 46 inches, 46.5 inches, 47
inches, 47.5 inches, 48 inches, 48.5 inches, 49 inches, 49.5
inches, or 50 inches in length. The length of the linear rod can be
longer or shorter depending upon the overall desired length of the
walking aid, e.g., the combined length of the hand grip, the linear
rod, and the two or more extendable and retractable self-leveling
load-bearing feet. In an aspect, the length of the linear rod is
adjustable. For example, the linear rod can include two or more
telescoping segments with twistable locks to adjust and fix the
length of the linear rod.
[0045] In an aspect, the linear rod is a solid linear rod. In an
aspect, the hand grip, the two or more extendable and retractable
self-leveling load-bearing feet, the at least one sensor, and the
controller are attached to an outer surface of a solid linear rod.
In an aspect, at least a portion of the linear rod is hollow. For
example, at least a portion of the linear rod forms a hollow tube.
In an aspect, at least a portion of the two or more extendable and
retractable self-leveling load-bearing feet, the at least one
sensor, and the controller are disposed within an interior portion
of the linear rod.
[0046] Preferably the linear rod is formed from a lightweight but
sturdy, weight-bearing material. In an aspect, the linear rod is
formed from a metal or metal alloy. For example, the linear rod can
be formed from aluminum or an aluminum alloy. For example, the
linear rod can be formed from stainless steel. For example, the
linear rod can be formed from titanium or a titanium alloy. In an
aspect, the linear rod is formed from a plastic or polymer
material. In an aspect, the linear rod is formed from carbon fiber
or a carbon fiber composite. For example, the linear rod can be
formed from carbon fiber-reinforced polymer or plastic. For
example, the linear rod can be formed from a carbon fiber-epoxy
resin composite or a carbon fiber-polyester, -vinyl ester, or
-nylon composite. In an aspect, the linear rod is formed from a
composite material including aramid, aluminum,
ultra-high-molecular-weight polyethylene, or fiber glass. In an
aspect, the linear rod is formed from wood, e.g., ash or beech
wood.
[0047] A walking aid such as described herein includes a hand grip
disposed in proximity to the first end of the linear rod. The hand
grip is configured for gripping by a hand or hands of a user. In an
aspect, the hand grip is disposed at the extreme end of the linear
rod. For example, the hand grip can be attached to the top of the
linear rod. In an aspect, the hand grip is a curved continuation of
the linear rod. For example, the linear rod can include a curved
portion at the first end that forms a hand grip. In an aspect, the
hand grip is disposed in a region proximal to the first end of the
linear rod. For example, the hand grip may be attached to the side
of the linear rod in a region proximal to the first end of the
linear rod, extended out from the linear rod like a handle. In an
aspect, the hand grip is smooth. In an aspect, the hand grip is
contoured to accommodate the fingers of a gripping hand. For
example, the hand grip can include an ergonomically compatible
grip. For example, the hand grip can include a contoured gel grip.
In an aspect, the hand grip is formed from the same material used
to form the linear rod. In an aspect, the hand grip is a contiguous
part of the linear rod. In an aspect, the hand grip is formed
separately and subsequently attached to the linear rod. In an
aspect, the hand grip is formed from a different material from that
used to form the linear rod. In an aspect, the hand grip is formed
from a metal or metal alloy, e.g., aluminum, stainless steel,
titanium, brass, or silver. In an aspect, the hand grip is formed
from plastic, e.g., polyvinylchloride. In an aspect, the hand grip
is formed from foam, e.g., polyurethane foam rubber or latex foam
rubber. In an aspect, the hand grip is formed from rubber. In an
aspect, the hand grip is formed from wood or from cork.
[0048] In an aspect, the hand grip includes a user interface. For
example, the hand grip can include a user interface that allows a
user to control one or more functions of the walking aid. In an
aspect, the user interface includes one or more of buttons,
switches, touchpads, triggers, or the like. In an aspect, the user
interface includes at least one of a microphone, a speaker, a
light, or a haptic device. In some embodiments, the user interface
is part of a user-activated control mechanism to control extension
and retraction of the two or more extendable and retractable
self-leveling load-bearing feet. For example, one or more buttons
on the hand grip can be used to manually control extension and
retraction of the two or more extendable and retractable
self-leveling load-bearing feet. In some embodiments, the user
interface is part of a warning system operably coupled to the
controller and configured to alert a user. For example, a light
emitting diode on the hand grip can be used to alert a user to a
hazard associated with the walking surface, e.g., a crack in a
sidewalk or the edge of a curb.
[0049] In an aspect, a walking aid includes two or more extendable
and retractable self-leveling load-bearing feet. In an aspect, a
walking aide includes two to ten extendable and retractable
self-leveling load-bearing feet. For example, a walking aid can
include two, three, four, five, six, seven, eight, nine, or ten
extendable and retractable self-leveling load-bearing feet. In an
aspect, each of the two or more extendable and retractable
self-leveling load-bearing feet is about 2 inches to about 24
inches in length. For example, at least one of the two or more
extendable and retractable self-leveling load-bearing feet is 2
inches, 2.5 inches, 3 inches, 3.5 inches, 4 inches, 4.5 inches, 5
inches, 5.5 inches, 6 inches, 6.5 inches, 7 inches, 7.5 inches, 8
inches, 8.5 inches, 9 inches, 9.5 inches, 10 inches, 10.5 inches,
11 inches, 11.5 inches, 12 inches, 12.5 inches, 13 inches, 13.5
inches, 14 inches, 14.5 inches, 15 inches, 15.5 inches, 16 inches,
16.5 inches, 17 inches, 17.5 inches, 18 inches, 18.5 inches, 19
inches, 19.5 inches, 20 inches, 20.5 inches, 21 inches, 21.5
inches, 22 inches, 22.5 inches, 23 inches, 23.5 inches, or 24
inches in length. The length of each of the extendable and
retractable self-leveling load-bearing feet can be longer or
shorter depending upon the overall desired length of the walking
aid, e.g., the combined length of the hand grip, the linear rod,
and the two or more extendable and retractable self-leveling
load-bearing feet.
[0050] In an aspect, at least one of the two or more extendable and
retractable self-leveling load-bearing feet is circular in
transverse cross-section. Alternatively, at least one of the two or
more extendable and retractable self-leveling load-bearing feet may
include a non-circular transverse cross-section. For example, at
least one of the two or more extendable and retractable
self-leveling load-bearing feet can be oval, square, triangular, or
polygonal in transverse cross-section. In an aspect, the diameter
or width of at least one of the two or more extendable and
retractable self-leveling load-bearing feet is about 0.2 inches to
about 3.0 inches. For example, the diameter or width of at least
one of the two or more extendable and retractable self-leveling
load-bearing feet can be 0.2 inches, 0.3 inches, 0.4 inches, 0.5
inches, 0.6 inches, 0.7 inches, 0.8 inches, 0.9 inches, 1.0 inches,
1.1 inches, 1.2 inches, 1.3 inches, 1.4 inches, 1.5 inches, 1.6
inches, 1.7 inches, 1.8 inches, 1.9 inches, 2.0 inches, 2.1 inches,
2.2 inches, 2.3 inches, 2.4 inches, 2.5 inches, 2.6 inches, 2.7
inches, 2.8 inches, 2.9 inches, or 3.0 inches. An extendable and
retractable self-leveling load-bearing foot with a larger or
smaller diameter or width is contemplated and may depend upon the
composition and/or configuration of the extendable and retractable
self-leveling load-bearing foot.
[0051] Preferably, the two or more extendable and retractable
self-leveling load-bearing feet are formed from a lightweight but
sturdy material, e.g., a material capable of load-bearing. In an
aspect, the two or more extendable and retractable self-leveling
load-bearing feet are formed from a metal or metal alloy. For
example, the two or more extendable and retractable self-leveling
load-bearing feet can be formed from aluminum or titanium or alloys
thereof. For example, the two or more extendable and retractable
self-leveling load-bearing feet can be formed from stainless steel.
In an aspect, the extendable and retractable self-leveling
load-bearing feet are formed from a plastic or polymer material. In
an aspect, the two or more extendable and retractable self-leveling
load-bearing feet are formed from carbon fiber or a carbon fiber
composite. For example, the two or more extendable and retractable
self-leveling load-bearing feet can be formed from carbon
fiber-reinforced polymer or plastic. For example, the two or more
extendable and retractable self-leveling load-bearing feet can be
formed from a carbon fiber-epoxy resin composite or a carbon
fiber-polyester, -vinyl ester, or -nylon composite. In an aspect,
the two or more extendable and retractable self-leveling
load-bearing feet are formed from a composite material including
aramid, aluminum, ultra-high-molecular-weight polyethylene, or
fiber glass. In an aspect, the two or more extendable and
retractable self-leveling load-bearing feet are formed from wood,
e.g., ash or beechwood.
[0052] In an aspect, a walking aid includes two or more extendable
and retractable self-leveling load-bearing feet wherein at least
one of the two or more extendable and retractable self-leveling
load-bearing feet has two or more telescoping segments. FIGS. 3A
and 3B illustrate aspects of extendable and retractable
self-leveling load-bearing feet with two or more telescoping
segments. FIG. 3A shows an example of a single extendable and
retractable self-leveling load-bearing foot 300a in a retracted
configuration. Extendable and retractable self-leveling foot 300a
includes telescoping segments 304a, 304b, and 304c. Telescoping
segment 304c is shown at least partially disposed within
telescoping segment 304b, and telescoping segment 304b is shown at
least partially disposed within telescoping segment 304a. FIG. 3B
shows extendable and retractable self-leveling foot 300b in an
extended configuration. In the extended configuration, telescoping
segments 304a, 304b, and 304c have been extended relative to one
another.
[0053] In an aspect, an extendable and retractable self-leveling
load-bearing foot can include two telescoping segments. For
example, an extendable and retractable self-leveling load-bearing
foot can include a first segment configured to slide into or out of
an interior portion of an adjacent second segment to adjust the
overall length of the foot. In an aspect, an extendable and
retractable self-leveling load-bearing foot can include three or
more telescoping segments. In an aspect, at least one of the
telescoping segments is a hollow tube of a load-bearing metal or
metal alloy. For example, at least one of the telescoping segments
can be a hollow tube of aluminum, titanium, or alloys thereof. In
an aspect, at least one of the telescoping segments is a hollow
tube of load-bearing plastic or polymer. For example, at least one
of the telescoping segments can be a hollow tube of carbon
fiber-epoxy resin composite.
[0054] In an aspect, at least one of the two or more extendable and
retractable self-leveling load-bearing feet has a pivot at a
connection to the linear rod and two or more telescoping segments.
In an aspect, at least one of the two or more extendable and
retractable self-leveling load-bearing feet is rotatable. For
example at least one of the two or more extendable and retractable
feet can be rotatable around a pivot at a connection to the linear
rod. FIGS. 3C and 3D illustrate aspects of extendable and
retractable self-leveling load-bearing feet including a pivot at a
connection to the linear rod and two or more telescoping segments.
FIG. 3C shows a single extendable and retractable self-leveling
load-bearing foot 305a in a retracted configuration and pivot 302
for connecting the extendable and retractable self-leveling
load-bearing foot to a portion of a linear rod. Extendable and
retractable self-leveling load-bearing foot 305a is able to rotate
relative to the linear rod around pivot 302. Extendable and
retractable self-leveling foot 305a includes telescoping segments
304a, 304b, and 304c. Telescoping segment 304c is shown at least
partially disposed within telescoping segment 304b, and telescoping
segment 304b is shown at least partially disposed within
telescoping segment 304a. FIG. 3D shows extendable and retractable
self-leveling foot 305b in an extended configuration. In the
extended configuration, telescoping segments 304a, 304b, and 304c
have been extended relative to one another.
[0055] FIGS. 3E-3G illustrate aspects of a walking aid including
extendable and retractable self-leveling load-bearing feet having a
pivot at a connection to the linear rod and two or more telescoping
segments. FIG. 3E shows walking aid 310 on walking surface 330.
Walking aid 310 includes linear rod 312 having a first end and a
second end, hand grip 314 disposed in proximity to the first end of
linear rod 312, two or more extendable and retractable
self-leveling load-bearing feet 320a at the second end of linear
rod 312, the two or more extendable and retractable self-leveling
load-bearing feet 320a having a pivot 302 at a connection to the
linear rod 312 and two or more telescoping segments 304, at least
one sensor 316 configured to detect a parameter of walking surface
330 in proximity to the second end of linear rod 312, and a
controller 318 including a microprocessor and circuitry and
operably coupled to the two or more extendable and retractable
self-leveling load-bearing feet 320a and the at least one sensor
316, controller 318 configured to receive information regarding the
detected parameter of walking surface 330 from the at least one
sensor 316 and configured to actuate at least one of the two or
more extendable and retractable self-leveling load-bearing feet
320a in response to the information regarding the detected
parameter of walking surface 330.
[0056] FIG. 3F shows walking aid 310 on walking surface 340.
Walking surface 340 represents an uneven walking surface. In this
non-limiting example, the two or more extendable and retractable
self-leveling load-bearing feet 320a of FIG. 3E have been extended
or retracted by pivoting around pivot 302 and/or telescoping
segments 304 represented by two or more extendable and retractable
self-leveling load-bearing feet 320b. The extension and retraction
around pivot points 302 or telescoping of segments 304 is based on
the information regarding a detected parameter, e.g., unevenness,
of walking surface 340. FIG. 3G shows walking aid 310 on walking
surface 350. Walking surface 350 represents a stepped walking
surface. In this non-limiting example, the two or more extendable
and retractable self-leveling load-bearing feet 320a of FIG. 3E
have been extended or retracted by pivoting around pivot 302 and/or
telescoping segments 304 represented by two or more extendable and
retractable self-leveling load-bearing feet 320c. The extension and
refraction around pivot points 302 or telescoping of segments 304
is based on the information regarding a detected parameter, e.g.,
stepped, of walking surface 350.
[0057] In some embodiments, at least one of the two or more
extendable and retractable self-leveling load-bearing feet has a
pivot at a connection to the linear rod and one or more additional
pivots along a length of the at least one of the two or more
extendable and retractable self-leveling load-bearing feet. FIGS.
4A-4C illustrate non-limiting examples of an extendable and
retractable self-leveling load-bearing foot with one or more pivot
points. FIG. 4A shows extendable and retractable self-leveling
load-bearing foot 400 including two segments 404 connected by a
pivot 406. In this non-limiting example, the extendable and
retractable self-leveling load-bearing foot has a non-pivoting
connection to a portion of the linear rod and a single pivot point
between the two segments. FIG. 4B shows extendable and retractable
self-leveling load-bearing foot 410 including two segments 404
connected by a pivot 406. An additional pivot 408 can be used to
connect extendable and retractable self-leveling load-bearing foot
410 to a portion of the linear rod. In this non-limiting example,
the extendable and retractable self-leveling load-bearing foot has
two pivot points. FIG. 4C shows extendable and retractable
self-leveling load-bearing foot 420 including three segments 404
attached to one another in a series through pivots 406. An
additional pivot 408 can be used to connect extendable and
retractable self-leveling load-bearing foot 400 to a portion of the
linear rod. In this non-limiting example, the extendable and
retractable self-leveling load-bearing foot 420 includes three
pivot points.
[0058] In some embodiments, at least one of the two or more
extendable and retractable self-leveling load-bearing feet includes
an additional foot pad at the distal end of the at least one of the
two or more extendable and retractable self-leveling load-bearing
feet. For example, the foot pad can include a rubber pad or cup
attached to the distal end of the extendable and retractable
self-leveling load-bearing foot. For example, a rubber pad or cup
can be added to prevent slippage of the extendable and retractable
self-leveling load-bearing feet on a slick walking surface. In an
aspect, the foot pad includes a pivot connection to the extendable
and retractable self-leveling load-bearing foot. For example, the
foot pad can include a pivot connection that allows it to pivot
relative to movement of the extendable and retractable
self-leveling load-bearing foot to which it is attached. FIG. 4D
shows extendable and retractable self-leveling load-bearing foot
430 including foot pad 425. Extendable and retractable
self-leveling load-bearing foot 430 includes two segments 404
connected by pivot 406. Extendable and retractable self-leveling
load-bearing foot 430 is configured for attached to a portion of a
linear rod through another pivot 408. Similarly, foot pad 425 is
connected to segment 404 at the distal end of extendable and
retractable self-leveling load-bearing foot 430 through a third
pivot 406.
[0059] FIGS. 4E-4G illustrate aspects of a walking aid including
extendable and retractable self-leveling load-bearing feet having a
pivot at a connection to the linear rod and one or more additional
pivots along the length of the at least one of the two or more
extendable and retractable self-leveling load-bearing feet. FIG. 4E
shows walking aid 430 on walking surface 450. Walking aid 430
includes linear rod 402 having a first end and a second end, hand
grip 432 disposed in proximity to the first end of linear rod 402,
two or more extendable and retractable self-leveling load-bearing
feet 440a at the second end of linear rod 402, the two or more
extendable and retractable self-leveling load-bearing feet 440a
having a pivot 408 at a connection to the linear rod 402 and an
additional pivot 406 along the length of the two or more extendable
and retractable self-leveling load-bearing feet 440a, at least one
sensor 434 configured to detect a parameter of walking surface 450
in proximity to the second end of linear rod 402, and a controller
436 including a microprocessor and circuitry and operably coupled
to the two or more extendable and retractable self-leveling
load-bearing feet 440a and the at least one sensor 434, controller
436 including circuitry configured to receive information regarding
the detected parameter of walking surface 450 from the at least one
sensor 434 and circuitry configured to actuate at least one of the
two or more extendable and retractable self-leveling load-bearing
feet 440a in response to the information regarding the detected
parameter of walking surface 450.
[0060] FIG. 4F shows walking aid 430 on walking surface 460.
Walking surface 460 represents an uneven walking surface. In this
non-limiting example, the two or more extendable and retractable
self-leveling load-bearing feet 440a of FIG. 4E have been extended
or retracted around pivot points 406 and 408 represented by two or
more extendable and retractable self-leveling load-bearing feet
440b. The extension and retraction around pivot points 406 and 408
is based on the information regarding a detected parameter, e.g.,
unevenness, of walking surface 460. FIG. 4G shows walking aid 430
on walking surface 470. Walking surface 470 represents a stepped
walking surface. In this non-limiting example, the two or more
extendable and retractable self-leveling load-bearing feet 440a of
FIG. 4E have been extended or retracted around pivot points 406 and
408 represented by two or more extendable and retractable
self-leveling load-bearing feet 440c. The extension and retraction
around pivot points 406 and 408 is based on the information
regarding a detected parameter, e.g., stepped, of walking surface
470.
[0061] In some embodiments, the two or more extendable and
retractable self-leveling load-bearing feet are operable to make
the walking aid free-standing. For example, the two or more
extendable and retractable self-leveling load-bearing feet are
operable to be moved into a position relative to one another that
provides a stable platform for holding the walking aid in a near
vertical position. In an aspect, a walking aid includes two or more
extendable and retractable self-leveling load-bearing feet
including two or more telescoping segments operable to make the
walking aid free-standing. In an aspect, a walking aid includes two
or more extendable and retractable self-leveling load-bearing feet
including a pivot connection to a linear rod and two or more
telescoping segments operable to make the walking aid
free-standing. In an aspect, a walking aid includes two or more
extendable and retractable self-leveling load-bearing feet
including a pivot connection to a linear rod and one or more
additional pivots along the length of the two or more extendable
and retractable self-leveling load-bearing feet and operably to
make the walking aid free-standing.
[0062] In some embodiments, at least one of the two or more
expendable and retractable self-leveling load-bearing feet is
configured to retract for storage into an interior portion of the
linear rod. FIGS. 5A-5C illustrate a non-limiting example of a
walking aid including expendable and retractable self-leveling
load-bearing feet retracted for storage into an interior portion of
the linear rod of the walking aid. In FIG. 5A, walking aid 500
includes linear rod 510, two or more expendable and retractable
self-leveling load-bearing feet 520, and hand grip 530. The two or
more extendable and retractable self-leveling load-bearing feet 520
are shown retracted for storage within an interior portion 540
(dashed outline) constituting a compartment or hollow space inside
a portion of the linear rod. In FIG. 5B, shows walking aid 500 with
the two or more extendable and retractable self-leveling
load-bearing feet 520 pushed out of the interior portion 540 of the
linear rod 510. For example, the two or more extendable and
retractable self-leveling load-bearing feet can be attached at one
end to a motor including pistons and/or pulleys that are capable of
pushing and pulling the two or more extendable and retractable
self-leveling load-bearing feet out of and into the interior
portion of the linear rod. In FIG. 5C, shows walking aid 500 with
the two or more extendable and retractable self-leveling
load-bearing feet 520 fully extended from the interior portion 540
of the linear rod 510 and pivoted to provide support on a walking
surface. In some embodiments, a user-activated control mechanism
associated with hand grip 530, e.g., a button or switch, is used to
initiate pushing or pulling of the two or more extendable and
retractable self-leveling load-bearing feet 520 into or out of the
interior portion 540 of linear rod 510.
[0063] In some embodiments, at least one of the two or more
expendable and retractable self-leveling load-bearing feet is
configured to retract for storage on a side of the linear rod.
FIGS. 6A and 6B illustrate a non-limiting example of a walking aid
including expendable and retractable self-leveling load-bearing
feet retracted for storage on a side of the walking aid. In FIG.
6A, walking aid 600 includes linear rod 610, two or more extendable
and retractable self-leveling load-bearing feet 620, and hand grip
630. The two or more extendable and retractable self-leveling
load-bearing feet 620 are shown retracted or folded up for storage
along the outer surface of the linear rod 610. In FIG. 6B, walking
aid 600 is shown with the two or more extendable and retractable
self-leveling load-bearing feet 620 pivoted or unfolded outward
from the outer surface of the linear rod 610 and ready for contact
with a walking surface. In some embodiments, a user-activated
control mechanism associated with hand grip 630, e.g., a button, is
used to initiate pivoting or unfolding of the two or more
extendable and retractable self-leveling load-bearing feet 620.
[0064] FIG. 7 illustrates further aspects of a walking aid such as
shown in FIG. 2A. Walking aid 200 includes at least one sensor 260
configured to detect a parameter of a walking surface in proximity
to the second end of the linear rod. In an aspect, the parameter of
the walking surface includes at least one of a surface type, a
friction coefficient, a roughness, a slope, an edge, a height, a
distance, or a bump.
[0065] In an aspect, the at least one sensor 260 is incorporated
into an interior portion of linear rod 210. For example, an
accelerometer, tilt sensor, or inclinometer can be incorporated
into an interior portion of the linear rod. In an aspect, at least
one sensor 260 is incorporated onto an outer surface of linear rod
210. For example, a camera or proximity sensor can be attached to
an outer surface of the linear rod. In an aspect, at least one
sensor 260 is incorporated into hand grip 240. In some embodiments,
at least one sensor 260 is associated with at least one of the two
or more extendable and retractable self-leveling load-bearing feet
250. For example, that portion of an extendable and retractable
self-leveling load-bearing foot that makes contact with the walking
surface can include one or more sensors, e.g., one or more pressure
sensors.
[0066] In an aspect, the at least one sensor 260 comprises a
tactile sensor 700. In an aspect, tactile sensor 700 is configured
to detect a parameter of a walking surface in proximity to the
second end of the linear rod. In an aspect, the tactile sensor is
configured to assess the hardness (e.g., concrete or asphalt) or
softness (deep sand or grass) of the walking surface. In an aspect,
the tactile sensor 700 includes a pressure sensor. For example, the
tactile sensor can include a pressure sensor array, for determining
weight, texture, stiffness, center of mass, and/or coefficient of
friction. In an aspect, the tactile sensor can include a force
gauge or force sensor. In an aspect, the tactile sensor includes an
array of strain gauges. In an aspect, the tactile sensor can
include a piezoresistive, a piezoelectric, capacitive, an optical
sensor, an ultrasonics-based sensor, a magnetism-based sensor, or
elastoresistive tactile sensor. See, e.g., Dahiya et al. (2009)
"Tactile Sensing--From Humans to Humanoids" IEEE Transactions on
Robotics, 26:1-20, which is incorporated herein by reference. In an
aspect, the tactile sensor is configured to detect slippage and
friction coefficient. See, e.g., Chuang et al. (2012) "Detection
system of incident slippage and friction coefficient based on a
flexible tactile sensor with structural electrodes" Sensors and
Actuators A 188:48-55; and Nakamura & Shinoda (2001) "A tactile
sensor instantaneously evaluating friction coefficients" The
11.sup.th International Conference on Sold-State Sensors and
Actuators, Munich, Germany, Jun. 10-14, 2001, pp. 1430-1433, which
are incorporated herein by reference.
[0067] In an aspect, the at least one sensor 260 comprises at least
one of a tilt sensor 705 or an inclinometer 710. In an aspect, the
at least one of a tilt sensor 705 or an inclinometer 710 is
configured to detect a parameter of a walking surface in proximity
to the second end of the linear rod. In an aspect, the tilt sensor
or the inclinometer includes at least one of a tilt meter, a tilt
indicator, a slope alert, a slope gauge, a gradient meter, a
gradiometer, a level gauge, a declinometer, and a pitch and roll
indicator. In an aspect, the inclinometer measures incline
(positive slope as observed by user) or decline (negative slope as
observed by user). For example, a tilt sensor or inclinometer can
be used to indicate a slope, either positive or negative, in
proximity to the walking aid. In some embodiments, the tilt sensor
or inclinometer measures changes in a parameter of the walking aid,
e.g., tilt or inclination, relative to the walking surface. In an
aspect, the tilt sensor or inclinometer measures pitch and roll of
the walking aid. In an aspect, a tilt sensor or an inclinometer
includes a three-axis accelerometer. Tilt sensors and inclinometers
are available from commercial sources (from, e.g., Trossen
Robotics, Downers Grove, Ill.; Dimension Engineering, Akron,
Ohio).
[0068] In an aspect, the at least one sensor 260 comprises a
texture sensor 715. In an aspect, texture sensor 715 is configured
to detect a parameter of a walking surface in proximity to the
second end of the linear rod. For example, the texture sensor can
be configured to detect a texture, e.g., rough or smooth, of the
walking surface. In an aspect, the texture sensor is configured to
detect light reflected off the surface of the walking surface. For
example, a shiny surface should reflect light at an angle equal to
the angle of incidence of the surface relative to a plane tangent
to the point of incidence. In contrast, a rough or matte surface
scatters incident light. In an aspect, the texture sensor includes
a light source, e.g, a laser, and photoreceptors configured to
detect the reflected light. In an aspect, the texture sensor is
incorporated into a distal end of the extendable and retractable
self-leveling load-bearing feet and in physical contact with the
walking surface. See, e.g., Ye et al. (2007) "Pen-type Sensor for
Surface Texture Perception" 16.sup.th IEEE International Conference
on Robot & Human Interactive Communication, Aug. 26-29, 2007,
Jeju, Korea, which is incorporated herein by reference. In an
aspect, the texture sensor includes a tactile sensor array. See,
e.g., Jamali et al. (2009) "Texture Recognition by Tactile Sensing"
Australasian Conference on Robotics and Automation (ACRA), Dec.
2-4, 2009, Sydney, Australia, which is incorporated herein by
reference.
[0069] In an aspect, the at least one sensor 260 comprises at least
one of an accelerometer 725 or a gyroscope 720. In an aspect, at
least one of accelerometer 725 or gyroscope 720 are configured to
detect a parameter of a walking surface in proximity to the second
end of the linear rod. In an aspect, the accelerometer senses
acceleration of the walking aid in one, two, or three axes. For
example, the accelerometer can include a three-axis sensor for
measuring accelerations on three accelerometer axes. The signal
from an accelerometer sensor can be separated into two signals: the
acceleration from gravity, and external acceleration. The
acceleration from gravity allows measurement of the tilt of the
sensor by identifying which direction is "down." In an aspect, the
accelerometer includes a proof mass-spring system. In an aspect,
the accelerometer is a piezoelectric accelerometer, a
piezoresistive accelerometer, or a capacitive accelerometer.
Accelerometers and/or gyroscopes are available from commercial
sources (from, e.g., Meggit Sensing Systems, Irvine, Calif.;
Trossen Robotics, Downers Grove, Ill.; Dimension Engineering,
Akron, Ohio; Freescale Semiconductor Inc., Austin, Tex.).
[0070] In an aspect, accelerometer 725 is configured to detect
height differences between successive contacts of a portion of the
walking aid with the walking surface. For example, one or more
accelerometers can be used to indicate successive increases in the
height of the walking aid between successive contacts with a
stepped walking surface. In an aspect, accelerometer 725 is
configured to be located on a user. For example, an accelerometer
on the user can provide information regarding the progress of the
user in a forward, backward, or lateral direction.
[0071] In an aspect, the at least one sensor 260 comprises at least
one camera 730. In an aspect, at least one camera 730 is configured
to detect a parameter of a walking surface in proximity to the
second end of the linear rod. For example, the at least one camera
can include a digital camera configured to capture one or more
images of the walking surface in proximity to the second end of the
linear rod. In an aspect, the at least one camera includes a camera
module including a CMOS or CCD image sensor. Digital camera modules
are available from commercial sources (from, e.g., e-con Systems,
Inc., St. Louis, Mo.; STMicroelectronics, Geneva, Switzerland).
[0072] In an aspect, the at least one sensor 260 comprises at least
one whisker sensor 735. In an aspect, the at least one whisker
sensor 735 is configured to detect a parameter of the walking
surface in proximity to the second end of the linear rod. For
example, the whisker sensor can include one or more flexible wires
attached to the second end of the linear rod of the walking aid,
wherein movement of the one or more flexible wires in response to
touching an object on the walking surface, e.g., an edge of an
uneven walkway, is detected. In an aspect, the at least one whisker
sensor is attached to one of the two or more extendable and
retractable self-leveling load-bearing feet. See, e.g., Wijaya
& Russell (2002) "Object Exploration using Whisker Sensors"
Proc. 2002 Australasian Conference on Robotics and Automation,
Auckland, 27-29 Nov. 2002, pp. 180-185, which is incorporated
herein by reference.
[0073] In an aspect, the at least one sensor 260 comprises at least
one proximity sensor 740. In an aspect, the at least one proximity
sensor 740 is configured to detect a parameter of the walking
surface in proximity to the second end of the linear rod. For
example, the walking aid can include at least one proximity sensor
to sense or detect how close a portion of the walking surface is to
a portion of the walking aid. In an aspect, the at least one
proximity sensor comprises at least one of a photoelectric
proximity sensor, an acoustic proximity sensor, or a capacitive
proximity sensor. In an aspect, the at least one proximity sensor
includes at least one of an inductive proximity sensor, long range
proximity sensor, ultrasonic proximity sensor, infrared (IR)
proximity sensor, 3gs proximity sensor, RFID proximity sensor,
laser proximity sensor, wireless proximity sensor, proximity sensor
alarm, micro proximity sensor, or microwave proximity sensor. In an
aspect, the proximity sensor includes at least one camera
configured to capture images in proximity to the walking aid.
Proximity sensors are available from a variety of commercial
sources (from, e.g., ZF Electronics Corp., Pleasant Prairie, Wis.;
Freescale Semiconductor Inc., Austin, Tex.; Semtech, Camarillo,
Calif.; STMicroelectronics, Geneva, Switzerland).
[0074] In an aspect, the at least one sensor 260 comprises at least
one pressure sensor 745. In an aspect, the at least one pressure
sensor 745 is configured to detect a parameter of a walking surface
in proximity to the second end of the linear rod. In an aspect, the
at least one pressure sensor includes a capacitive pressure sensor.
For example, the pressure sensor can include a two metal plates
separated by a nonconductive foam to form a capacitive transducer
that when connected to an inductor results in an
inductance-capacitance combination with a specific frequency of
oscillation. Applying pressure to the sensor alters the distance
between the metal places, lowers the oscillator frequency, and
increases the capacitance. In an aspect, the at least one pressure
sensor includes an elastomer pressure sensor. For example, the
pressure sensor can include a compressible foam pad with electrodes
on one side receiving a positive voltage and mated pairs of
electrodes on the other side receiving a negative voltage.
Compression of the pad reduces the resistance between the electrode
pairs and increase in current. Pressure sensors are commercially
available from a variety of sources (from, e.g., Trossen Robotics,
Downers Grove, Ill.; Freescale Semiconductor Inc., Austin,
Tex.).
[0075] Returning to FIG. 7, walking aid 200 includes a controller
270 including a microprocessor 272 and circuitry 274. Controller
270 is operably coupled to the two or more extendable and
retractable self-leveling load-bearing feet 250 and the at least
one sensor 260 and includes circuitry configured to (e.g., includes
at least one of software or a processor programmed to) receive
information regarding the detected parameter of the walking surface
from the at least one sensor 260 and circuitry configured to
actuate at least one of the two or more extendable and retractable
self-leveling load-bearing feet 250 in response to the information
regarding the detected parameter of the walking surface.
[0076] In an aspect, controller 270 includes a microprocessor 272.
In an aspect, microprocessor 272 includes a central processing unit
for controlling one or more functions of the walking aid. The
controller further includes a system memory and a system bus that
couples various system components including the system memory to
the microprocessor. The microprocessor can include a processing
unit, a central processing unit (CPU), a digital signal processor
(DSP), an application-specific integrated circuit (ASIC), a field
programmable gate entry (FPGA), or the like, or any combinations
thereof, and can include discrete digital or analog circuit
elements or electronics, or combinations thereof. In an aspect, the
controller includes one or more ASICs having a plurality of
pre-defined logic components. In an aspect, the controller includes
one or more FPGA having a plurality of programmable logic
commands.
[0077] Controller 270 further includes circuitry 274. In an aspect,
circuitry 274 includes circuitry configured to execute one or more
instructions for operating components of the walking aid, e.g., the
at least one sensor and the two or more extendable and retractable
self-leveling load-bearing feet. In an aspect, circuitry 274
includes circuitry configured to execute one or more instructions
for operating any or all other components incorporated into the
walking aid, e.g., a user-activated control mechanism, a user
interface, at least one second sensor, an actuator, a power source,
a mechanical energy harvester, and/or a warning system. In an
aspect, the controller includes circuitry to execute one or more
instructions for receiving information regarding the detected
parameter of the walking surface from the at least one sensor and
circuitry to execute one or more instructions for actuating at
least one of the two or more extendable and retractable
self-leveling load-bearing feet in response to the information
regarding the detected parameter of the walking surface.
[0078] In some embodiments, controller 270 is connected to a user
interface, e.g., one or more input components and/or output
components for use by a user to interface with the walking aid. For
example, an input component, e.g., a microphone, button, or switch,
can be used as part of a user-activated control mechanism to
control extension and retraction of the two or more extendable and
retractable self-leveling load-bearing feet. Non-limiting examples
of input components include buttons, switches, keypads,
touch-screens, microphones, dials, or the like. For example, an
output component, e.g., a flashing light emitting diode (LED), can
be used as part of a warning system configured to alert a user.
Non-limiting examples of output components include audio speakers,
light emitting diodes or other light generating devices, or a
haptic device. In an aspect, the user interface is associated with
an external portion of hand grip 240 and/or linear rod 210.
[0079] In an aspect, controller 270 includes circuitry 750
configured to actuate at least one of the two or more extendable
and retractable self-leveling load-bearing feet in response to the
information regarding the detected parameter of the walking surface
before the at least one of the two or more extendable and
retractable self-leveling load-bearing feet contacts the walking
surface. For example, the controller can receive information from
the at least one sensor, e.g., a camera or proximity sensor,
regarding a parameter of the walking surface, e.g., a curb edge or
break in the sidewalk, and actuate at least one of the two or more
extendable and retractable self-leveling load-bearing feet before
the at least one of the two or more extendable and retractable
self-leveling load-bearing feet contacts the walking surface. In an
aspect, circuitry 750 is configured to execute one or more
instructions for actuating at least one of the two or more
extendable and retractable self-leveling load-bearing feet in
response to information regarding the detected parameter of the
walking surface before the at least one of the two or more
extendable and retractable self-leveling load-bearing feet contacts
the walking surface.
[0080] In an aspect, controller 270 includes circuitry 755
configured to actuate extension or retraction of at least one of
the two or more extendable and retractable self-leveling
load-bearing feet in response to the information regarding the
detected parameter of the walking surface before the at least one
of the two or more extendable and retractable self-leveling
load-bearing feet contacts the walking surface. For example, the
controller can receive information from the at least one sensor,
e.g., a camera or proximity sensor, regarding a parameter of the
walking surface, e.g., a curb edge or break in the sidewalk, and
actuate extension or retraction of at least one of the two or more
extendable and retractable self-leveling load-bearing feet before
the at least one of the two or more extendable and retractable
self-leveling load-bearing feet contacts the walking surface. In an
aspect, circuitry 755 is configured to execute one or more
instructions for actuating extension or retraction of at least one
of the two or more extendable and retractable self-leveling
load-bearing feet in response to the information regarding the
detected parameter of the walking surface before the at least one
of the two or more extendable and retractable self-leveling
load-bearing feet contacts the walking surface.
[0081] In an aspect, controller 270 includes circuitry 760
configured to independently and automatically actuate the two or
more extendable and retractable self-leveling load-bearing feet.
For example, the controller can receive information from the at
least one sensor, e.g., a proximity sensor, regarding a parameter
of the walking surface, e.g., a stepped walking surface, and
independently and automatically actuate the two or more extendable
and retractable self-leveling load-bearing feet to create a stable
support for the user. For example, the controller includes
circuitry to independently and automatically actuate each of the
two of more extendable and retractable self-leveling load-bearing
feet. For example, the controller includes circuitry configured to
actuate one of the two or more extendable and retractable
self-leveling load-bearing feet independently of each of the other
two or more extendable and retractable self-leveling load-bearing
feet. In an aspect, circuitry 760 is configured to execute one or
more instructions for independently and automatically actuating the
two or more extendable and retractable self-leveling load-bearing
feet.
[0082] In an aspect, controller 270 includes circuitry 765
configured to independently and automatically actuate the two or
more extendable and retractable self-leveling load-bearing feet to
a configuration based on a position of the walking aid relative to
the walking surface. For example, the controller can receive
information from the at least one sensor, e.g., a proximity sensor,
regarding the position of the walking aid relative to the walking
surface, e.g., height and distance away from a step associated with
a stepped walking surface, and independently and automatically
actuate the two or more extendable and retractable self-leveling
load-bearing feet to create a stable support for the user. In an
aspect, circuitry 765 is configured to execute one or more
instructions for independently and automatically actuating the two
or more extendable and retractable self-leveling load-bearing feet
to a configuration based on a position of the walking aid relative
to the walking surface.
[0083] In an aspect, controller 270 includes circuitry 770
configured to independently and automatically actuate the two or
more extendable and retractable self-leveling load-bearing feet to
a configuration based on a position of variance of the walking aid
from vertical. For example, the controller can receive information
from at least one accelerometer regarding a tilt or inclination of
the walking aid relative to the walking surface and independently
and automatically actuate the two or more extendable and
retractable self-leveling load-bearing feet to create stable
support for the user. In an aspect, circuitry 770 is configured to
execute one or more instructions for independently and
automatically actuating the two or more extendable and retractable
self-leveling load-bearing feet to a configuration based on a
position of variance of the walking aid from vertical.
[0084] Returning to FIG. 7, in some embodiments, walking aid 200
includes user-activated control mechanism 775. In an aspect, a
walking aid includes a user-activated control mechanism to control
extension and retraction of the two or more extendable and
retractable self-leveling load-bearing feet. In an aspect, the
user-activated control mechanism 775 is a voice-activated control
mechanism 780. For example, the walking aid can include a
microphone and circuitry configured to receive, process, and
transmit a voice command to the controller. For example, the voice
commands can include "on," "off" "extend," "retract," and the like.
In an aspect, the user-activated control mechanism 775 is a
manually activated control mechanism 785. For example, the walking
aid can include one or more buttons or other pressure sensitive
pads and circuitry configured to receive and process a manual
activation command, e.g., pushing of a button. In an aspect, at
least a portion of the user-activated control mechanism is
incorporated into the hand grip disposed in proximity to the first
end of the linear rod. For example, the hand grip can include a
microphone for receiving a voice command. For example, the hand
grip can include one or more pressure-sensitive buttons or pads for
sending a manual activation command.
[0085] FIG. 8 illustrates further aspects of a walking aid. In some
embodiments, walking aid 200 includes at least one second sensor
800 configured to detect a parameter of the walking aid 200. In an
aspect, the parameter of the walking aid comprises at least one of
tip motion, movement, position relative to the walking surface,
tilt angle relative to the walking surface, or distance from the
walking surface. In an aspect, the at least one second sensor
includes at least one of a tactile sensor, a tilt sensor, an
inclinometer, an accelerometer, a gyroscope, a camera, a whisker
sensor, a proximity sensor, and/or a pressure sensor.
[0086] In an aspect, at least one second sensor 800 is configured
to determine movement of the walking aid after it loses contact
with the walking surface, as shown in block 802. For example, an
accelerometer in combination with a pressure sensor can be used to
detect when the walking aid loses contact with the walking surface
and what the movement of the walking aid looks like after losing
contact. In an aspect, a tilt sensor or inclinometer in combination
with accelerometers can measure the pitch and roll of the walking
aid relative to the walking surface after the walking aid loses
contact with the walking surface. In an aspect, a combination of
two or more sensors is used to measure the height of the walking
aid. For example, a combination of 3D gyroscopes, 3D
accelerometers, 3D magnetometers, and a barometric altimeter can be
used as a height sensor. See, e.g., Tanigawa et al. (2008)
"Drift-free dynamic height sensor using MEMS IMU aided by MEMS
pressure sensor" Proceedings of the 5.sup.th Workshop on
Positioning, Navigation, and Communication 2008, pp. 191-196, which
is incorporated herein by reference.
[0087] In an aspect, at least one second sensor 800 is configured
to detect tip motion at the first end or the second end of the
linear rod after initial contact with the walking surface, as shown
in block 804. For example, a 2-axis inclinometer with
accelerometers can be used to measure a tipping motion, tilt, or
variance from vertical of the walking aid relative to a walking
surface. Non-limiting examples of inclinometers and accelerometers
have been described above herein.
[0088] In an aspect, controller 270 is operably coupled to the at
least one second sensor 800, the controller including circuitry
configured to receive information regarding the detected parameter
of the walking aid 200 from the at least one second sensor 800 and
circuitry configured to actuate at least one of the two or more
extendable and retractable self-leveling load-bearing feet 250 in
response to the information regarding the detected parameter of the
walking aid 200, as shown in block 840. For example, the controller
can include circuitry to actuate at least one of the two or more
extendable and retractable self-leveling load-bearing feet in
response to detecting a substantial tilt in the walking aid
relative to the walking surface. In an aspect, the circuity is
configured to execute one or more instructions for receiving
information regarding the detected parameter of the walking aid 200
from the at least one second sensor 800 and one or more
instructions for actuating at least one of the two or more
extendable and retractable self-leveling load-bearing feet 250 in
response to the information regarding the detected parameter of the
walking aid 200.
[0089] In an aspect, controller 270 includes circuitry 850
configured to actuate the at least one of the two or more
extendable and retractable self-leveling load-bearing feet in
response to movement of the walking aid 200 after it loses contact
with the walking surface. For example, the circuitry can be
configured to actuate at least one of the two or more extendable
and retractable self-leveling load-bearing feet based on
information from one or more accelerometers regarding movement of
the walking aid after it loses contact with the walking surface. In
an aspect, circuitry 850 is configured to execute one or more
instructions for actuating the at least one of the two or more
extendable and retractable self-leveling load-bearing feet in
response to movement of the walking aid 200 after it loses contact
with the walking surface.
[0090] In an aspect, controller 270 includes circuitry 860
configured to actuate extension or retraction of the at least one
of the two or more extendable and retractable self-leveling
load-bearing feet 250 in response to movement of the walking aid
200 after it loses contact with the walking surface. For example,
the circuitry can be configured to extend or retract at least one
of the two or more extendable and retractable self-leveling
load-bearing feet based on information from one or more
accelerometers regarding movement of the walking aid after it loses
contact with the walking surface. In an aspect, circuitry 860 is
configured to execute one or more instructions for actuating
extension or retraction of the at least one of the two or more
extendable and retractable self-leveling load-bearing feet 250 in
response to movement of the walking aid 200 after it loses contact
with the walking surface.
[0091] In an aspect, controller 270 includes circuitry 870
configured to actuate the at least one of the two or more
extendable and retractable self-leveling load-bearing feet 250 to
orient said at least one of the two or more extendable and
retractable self-leveling load-bearing feet 250 relative to an
orientation of the walking aid 200. For example, the circuitry can
be configured to orient the two or more extendable and retractable
self-leveling load-bearing feet at an angle relative to the
orientation of the walk aid. For example, the circuitry can be
configured to orient the two or more extendable and retractable
self-leveling load-bearing feet relative to the walking surface
when the walking aid is oriented at an angle (e.g., tilted)
relative to the walking surface to create a stable support for the
user. In an aspect, circuitry 870 is configured to execute one or
more instructions for actuating the at least one of the two or more
extendable and retractable self-leveling load-bearing feet 250 to
orient said at least one of the two or more extendable and
retractable self-leveling load-bearing feet 250 relative to an
orientation of the walking aid 200.
[0092] In some embodiments, walking aid 200 includes an actuator
810 operably coupled to the controller 270 and configured to
actuate the two or more extendable and retractable self-leveling
load-bearing feet 250. In an aspect, actuator 810 produces a
rotational motion. For example, actuator 810 can be used to rotate
at least a portion of an extendable and retractable self-leveling
load-bearing foot around a pivot point. In an aspect, actuator 810
produces a linear motion. For example, actuator 810 can be used to
extend and retract two or more telescoping segments of an
extendable and retractable self-leveling load-bearing foot. In an
aspect, actuator 810 includes at least one of a spring, a motor, a
pneumatic actuator, or a hydraulic actuator. In an aspect, actuator
810 includes at least one of a linear actuator, a solenoid, or a
muscle wire. In an aspect, the actuator 810 comprises a combination
of a spring, a motor, a pneumatic actuator, a hydraulic actuator, a
linear actuator, a solenoid, and/or a muscle wire. For example, a
pneumatic actuator can be combined with a spring to extend and
retract one or more of the extendable and retractable self-leveling
load-bearing feet.
[0093] In an aspect, actuator 810 includes at least one spring
operably coupled to controller 270 and configured to actuate at
least one of the two or more extendable and retractable
self-leveling load-bearing feet 250.
[0094] In an aspect, actuator 810 includes at least one motor
operably coupled to controller 270 and configured to actuate at
least one of the two or more extendable and retractable
self-leveling load-bear feet 250. In an aspect, the at least one
motor includes circuitry to extend and retract the extendable and
retractable self-leveling load-bearing feet. In an aspect, the
motor includes at least one of a DC motor, a geared DC motor, a
servo motor, a stepper motor, or a geared stepper motor. In an
aspect, the at least one motor is an electric motor. In an aspect,
the motor is a rotary shaft motor, such as a conventional DC,
pulse, or AC motor. In an aspect, the motor can include a brush DC
motor. In an aspect, the motor can include a DC servo. In an
aspect, the motor can include a rotary piezoelectric motor. Other
non-limiting examples of motors for use in actuating the extendable
and retractable self-leveling load-bearing feet include a stepper
control motor, a brushless DC commutated control motor, or a
universal motor. For example, a stepper motor or servo can be used
to extend or retract the extendable and retractable self-leveling
load-bearing feet that include two or more telescoping segments.
For example, a motorized threaded rod can be used to extend or
retract the extendable and retractable self-leveling load-bearing
feet. In general, motors for use in small electronics or hand-held
devices are known in the art and available from commercial
sources.
[0095] In an aspect, actuator 810 includes a pneumatic actuator
operably coupled to controller 270 and configured to actuate at
least one of the two or more extendable and retractable
self-leveling load-bearing feet 250. See, e.g., Granosik &
Borenstein (2005) "Pneumatic actuators for serpentine robot"
8.sup.th International Conference on Walking and Climbing Robots
(CLAWAR), London, U.K., 12-15 Sep. 2005, pp. 719-726, which are
incorporated herein by reference. Pneumatic actuators are available
from commercial sources (from, e.g., Bimba Manufacturing,
University Park, Ill.; ASCO Numatics, Florham Park, N.J.).
[0096] In an aspect, actuator 810 includes a hydraulic actuator
operably coupled to controller 270 and configured to actuate at
least one of the two or more extendable and retractable
self-leveling load-bearing feet 250
[0097] In an aspect, actuator 810 includes a thermal- or
magnetic-responsive actuator operably coupled to controller 270 and
configured to actuate at least one of the two or more extendable
and retractable self-leveling load-bearing feet 250. For example,
the actuator can include a shape memory material, e.g., shape
memory alloys responsive to heat and/or magnetic shape-memory
alloys responsive to a magnetic field. For example, the actuator
can include a spring formed from a shape memory material. See,
e.g., U.S. Pat. No. 7,104,056 to Taya et al. titled "Design of
ferromagnetic shape memory allow composites and actuators
incorporating such materials;" and U.S. Pat. No. 8,586,176 to Taya
& Liang titled "Shape memory alloy fibers and shape memory
polymer fibers and films and their composites for reversible shape
changes," which are incorporated herein by reference.
[0098] In an aspect, actuator 810 includes a mechanical actuator
operably coupled to controller 270 and configured to actuate at
least one of the two or more extendable and retractable
self-leveling load-bearing feet 250. In an aspect, the mechanical
actuator is configured to convert rotary motion into linear motion.
For example, the mechanical actuator can use one or more of gears,
rails, pulleys, chains, or other devices to operate. For example,
extension and retraction of the two or more extendable and
retractable self-leveling load-bearing feet can be actuated using a
series of gears and pulleys operably linked to one or more
motors.
[0099] In an aspect, the walking aid includes a power source for
powering any or all components of the walking aid. In an aspect,
the walking aid includes one or more disposable batteries, e.g.,
cells, buttons, thin-film batteries, or microbatteries. For
example, the components of the walking aid can be powered by a
conventional battery, e.g., a disposable 9 volt battery.
Non-limiting examples of disposable batteries include zinc-carbon,
alkaline, lithium, zinc-chloride, zinc-air, or silver-oxide
batteries. In an aspect, the one or more batteries include one or
more rechargeable batteries. For example, the components of the
walking aid can be powered by one or more rechargeable lithium-ion
batteries. Non-limiting examples of rechargeable batteries include
nickel-cadmium, nickel-zinc, nickel metal hydride, silver-zinc, or
lithium ion.
[0100] In some embodiments, walking aid 200 further includes a
mechanical energy harvester 820 configured to store electrical or
mechanical energy to power actuation of the two or more extendable
and retractable self-leveling load-bearing feet 250. In an aspect,
the mechanical energy harvester stores mechanical energy generated
when the walking aid periodically contacts the walking surface. For
example, the intermittent mechanical energy generated when the
walking aid contacts the walking surface can be converted into
electrical energy through at least one of piezoelectric conversion,
electro-active polymers (EAP) conversion, or electromagnetic
conversion. For example, the mechanical energy harvester can
include one or more piezoelectric materials, dielectric elastomers,
and/or rotator generators. See, e.g., Yusuf et al. (2013)
"Mechanical energy harvesting devices for low frequency
applications: Revisited," ARPN J Eng. App. Sci. 8:504-512, which is
incorporated herein by reference. In an aspect, the mechanical
energy harvester stores electrical or mechanical energy for
powering one or more componens of the walking aid. In an aspect,
the mechanical energy harvester stores electrical or mechanical
energy for powering an actuator, e.g., spring, a motor, a pneumatic
actuator, a hydraulic actuator, or solenoid, to power actuation of
the two or more extendable and retractable self-leveling
load-bearing feet 250. In an aspect, power from a mechanical energy
harvester is combined with another power source, e.g., a standard
battery, to power the components of the walking aid.
[0101] In some embodiments, walking aid 200 includes warning system
830 operably coupled to controller 270 and configured to alert a
user. For example, the walking aid can include a warning system
that alerts a user to a dangerous walking surface or situation. For
example, the walking aid can include a warning system that alerts a
user to the dangers of a slippery surface, e.g., an oily, icy, or
water-covered surface). For example, the walking aid can include a
warning system that alerts a user to dangers associated with a
specific friction coefficient, e.g., too little or too much, that
might create a dangerous walking situation. For example, the
walking aid can include a warning system that alerts a user to the
dangers of a slope in the walking surface, e.g., an incline or a
decline of a percent grade that might be of difficulty for the
user. For example, the walking aid can include a warning system
that alerts a user to the proximity of an edge, e.g., an edge
associated with a curb or a step. For example, the walking aide can
include a warning system that alerts a user to poor load-bearing
capability of a surface, e.g., the poor load-bearing capability of
deep sand or thick grass.
[0102] In an aspect, warning system 830 is at least one of an
audible warning system, an optical warning system, or a haptic
warning system 832. In an aspect, the warning system includes a
speaker, a soundcard, and circuitry configured to broadcast an
audible alert in response to receiving a warning signal from the
controller. For example, the warning system can include an audible
alert, e.g., a beeping sound or a warning voice. In an aspect, the
warning system includes one or more light sources, and circuitry
configured to emit an optical alert in response to receiving a
warning signal from the controller. For example, the warning system
can include an optical alert, e.g., one or more flashing red LEDs.
In an aspect, the warning system includes a vibrator and circuitry
configured to vibrate at least a portion of the walking aid in
response to receiving a warning signal from the controller. For
example, the hand grip of the walking aid can include a haptic
device, e.g., a vibrator, which vibrates the hand grip in response
to a warning signal from the controller.
[0103] In an aspect, warning system 830 is incorporated into the
hand grip of the walking aid. In an aspect, at least one of an
audible warning system, an optical warning system, or a haptic
warning system 832 is incorporated into hand grip 240. For example,
the warning system can include one or more lights, e.g., LEDs,
incorporated into the hand grip that flash on/off to alert the
user. For example, the warning system can include a speaker
incorporated into the hand grip that emits an audible sound, e.g.,
a beeping sound, to alert the user. For example, the warning system
can include a haptic vibration device that vibrates the hand grip
of the walking device to alert the user. Alternatively, the warning
system can be incorporated into one or more other parts of the
walking aid, e.g., into the linear rod or into at least one of the
two or more extendable and retractable self-leveling load bearing
feet.
[0104] In some embodiments, a walking aid such as described herein
may be operably connected to a remote signaling device to provide
information regarding the environment in which the walking aid is
in or is entering. In some embodiments, a system includes a walking
aid including a linear rod having a first end and a second end; a
hand grip disposed in proximity to the first end of the linear rod;
two or more extendable and retractable self-leveling load-bearing
feet at the second end of the linear rod; at least one receiver;
and a controller attached to the linear rod and operably connected
to the at least one receiver and to the two or more extendable and
retractable self-leveling load-bearing feet; and a remote signaling
device in wireless communication with the at least one receiver,
the remote signaling device configured to transmit a signal,
wherein the at least one receiver is configured to receive the
signal from the remote signaling device and configured to transform
the signal into information regarding a location of the walking aid
in an environment, and wherein the controller includes circuitry
configured to actuate at least one of the two or more extendable
and retractable self-leveling load-bearing feet based on the
information regarding the location of the walking aid in the
environment.
[0105] With reference to FIG. 9, shown is an example of a system
including a walking aid and a remote signaling device which can
serve as a context for one or more devices, systems, and/or methods
described herein. FIG. 9 shows a system 900 including a walking aid
910 and a remote signaling device 920. Walking aid 910 includes a
linear rod, a hand grip, and two or more extendable and retractable
self-leveling load-bearing feet. Walking aid 910 further includes
at least one receiver and a controller attached to the linear rod
and operably coupled to the at least one receiver and to the two or
more extendable and retractable self-leveling load-bearing feet.
Remote signaling device 920 is in wireless communication with the
at least one receiver of walking aid 910 and is configured to
transmit a signal. The receiver of walking aid 910 is configured to
receive the signal from the remote signaling device 920 as a user
930 approaches an environment and configured to transform the
signal into information regarding a location of the walking aid 910
in the environment, e.g., approaching a stepped walking surface
940. For example, the remote signaling system may be situated such
that it sends one or more signals from the top and/or bottom of a
staircase to inform the walking aid that the user is approaching or
is in the process of engaging a staircase. The controller includes
circuitry configured to actuate at least one of the two or more
extendable and retractable self-leveling load-bearing feet based on
the information regarding the location of the walking aid 910 in
the environment
[0106] FIG. 10 illustrates further aspects of system 900 including
walking aid 910 and remote signaling device 920. System 900
includes walking aid 910 including linear rod 1000 including a
first end 1005 and a second end 1010, a hand grip 1015 disposed in
proximity to the first end 1005 of linear rod 1000, two or more
extendable and retractable self-leveling load-bearing feet 1020 at
the second end 1010 of the linear rod 1000, at least one receiver
1025, and a controller 1030 attached to the linear rod 1000 and
operably connected to the at least one receiver 1025 and to the two
or more extendable and retractable self-leveling load-bearing feet
1020. System 900 further includes a remote signaling device 920 in
wireless communication with the at least one receiver 1025, the
remote signaling device 920 configured to transmit a signal 1035;
wherein the at least one receiver 1025 is configured to receive the
signal 1035 from the remote signaling device 920 and configured to
transform the signal 1035 into information regarding a location of
the walking aid 910 in an environment, and wherein the controller
1030 includes circuitry 1031 configured to actuate at least one of
the two or more extendable and retractable self-leveling
load-bearing feet 1020 based on the information regarding the
location of the walking aid 910 in the environment.
[0107] System 900 includes walking aid 910 including a linear rod
1000 and hand grip 1015. Non-limiting aspects of a linear rod and a
hand grip for use with a walking aid have been described above
herein.
[0108] Walking aid 910 further includes two or more extendable and
retractable self-leveling load-bearing feet 1020. In an aspect at
least one of the two or more extendable and retractable
self-leveling load-bearing feet 1020 has two or more telescoping
segments. In an aspect, at least one of the two or more extendable
and retractable self-leveling load-bearing feet 1020 has a pivot at
a connection to linear rod 1000 and two or more telescoping
segments. In an aspect, at least one of the two or more extendable
and retractable self-leveling load-bearing feet 1020 has a pivot at
a connection to the linear rod 1000 and one or more additional
pivots along a length of the at least one of the two or more
extendable and retractable self-leveling load-bearing feet 1020. In
an aspect, at least one of the two or more extendable and
retractable self-leveling load-bearing feet 1020 is rotatable. In
an aspect, the two or more extendable and retractable self-leveling
load-bearing feet 1020 are operable to make the linear rod
free-standing. In an aspect, at least one of the two or more
extendable and retractable self-leveling load-bearing feet 1020 is
configured to retract for storage on a side of the linear rod. In
an aspect, at least one of the two or more extendable and
retractable self-leveling load-bearing feet 1020 is configured to
retract for storage into an interior portion of the linear rod.
Non-limiting aspects of extendable and retractable self-leveling
load-bearing feet for use with a walking aid have been described
above herein.
[0109] Walking aid 910 of system 900 includes at least one receiver
1025 configured to receive the signal from the remote signaling
device 920 and configured to transform the signal into information
regarding a location of the walking aid 910 in an environment. In
an aspect, the at least one receiver 1025 is configured to receive
at least one of a radio signal, a magnetic signal, an acoustic
signal, an electromagnetic signal, or an optical signal, as shown
in block 1070. In an aspect, at least one receiver 1025 includes at
least one antenna configured to intercept signals emitted from the
remote signaling device 920. In an aspect, at least one receiver
1025 includes at least one filter, e.g., an electronic filter, a
frequency filter, or a bandwidth filter, to separate specific
signals from the remote signaling device from other signals in the
environment. In an aspect, the at least one receiver 1025 includes
a digital signal processor.
[0110] In an aspect, the at least one receiver 1025 comprises at
least one electromagnetic signal receiver 1071. In an aspect, the
at least one electromagnetic signal receiver 1071 is configured to
receive an electromagnetic signal from a remote electromagnetic
signal generator and configured to transform the electromagnetic
signal into information regarding a location of the walking aid in
an environment. In an aspect, the at least one electromagnetic
signal receiver 1071 is configured to receive an ultraviolet
signal, a visible light signal, an infrared signal, a microwave
signal, or a radio wave signal.
[0111] In an aspect, the at least one receiver 1025 comprises at
least one magnetic signal receiver 1072. In an aspect, the at least
one magnetic signal receiver 1072 is configured to receive a
magnetic signal from a remote magnetic field signal generator and
configured to transform magnetic signal into information regarding
a location of the walking aid in an environment. For example, the
at least one magnetic signal receiver can include a digital or
analog Hall effect sensor for detecting a magnetic field emitted by
the remote signaling device. In an aspect, the at least one
receiver includes a magnetometer configured to measure a strength
and direction of magnetic field at a point in space. In an aspect,
the at least one receive includes a MEMS magnetometer. Other
non-limiting examples of receivers of detecting a magnetic field
include a magneto-diode, magneto-transistor, anisotropic
magnetoresistance (AMR) magnetometer, giant magnetoresistance (GMR)
magnetometer, magnetic tunnel junction magnetometer,
magneto-optical sensor, Lorentz-force-based MEMS sensor, fluxgate
magnetometer, or search coil magnetic field sensor.
[0112] In an aspect, the at least one receiver 1025 comprises at
least one radiofrequency signal receiver 1073. In an aspect, the at
least one radiofrequency signal receiver 1073 is configured to
receive a radiofrequency signal from a remote radiofrequency signal
generator and configured to transform the radiofrequency signal
into information regarding a location of the walking aid in an
environment. In an aspect, the at least one radiofrequency signal
receiver is tuned to receive a specific frequency. In an aspect,
the at least one radiofrequency signal receiver includes a
radiofrequency module, e.g., a superheterodyne receiver or a
super-regenerative receiver. In an aspect, the at least one
radiofrequency module is part of an electronic circuit and can
include a WLAN module, a Zigbee module, a Bluetooth module, a GPS
module, an RFID module, or a UHF module (from, e.g., Future
Electronics, Pointe Claire, Quebec, Canada).
[0113] In an aspect, the at least one receiver 1025 comprises at
least one photodetector 1074. In an aspect, the at least one
photodetector 1074 is configured to receive an optical signal from
a remote optical signal generator and configured to transform the
optical signal into information regarding a location of the walking
aid in an environment. For example, the walking aid can include one
or more photodetectors configured to detect a specific wavelength
of light or other electromagnetic energy emitted by the remote
signaling device. In an aspect, the at least one photodetector is
incorporated into a camera. Non-limiting examples of photodetectors
include photodiodes, metal-semiconductor-metal (MSM)
photodetectors, phototransistors, photoresistors, photomultipliers,
pyroelectric photodetectors, and thermal detectors. In an aspect,
the at least one receiver comprises an array of photodetectors.
Photodetectors are available from commercial sources (from, e.g.,
AC Photonics, Santa Clara, Calif.; Electro-Optics Technology, Inc.,
Traverse City, Mich.; and OSI Laser Diode, Inc., Edison, N.J.).
[0114] In an aspect, the at least one receiver 1025 comprises at
least one infrared sensor 1075. In an aspect, the at least one
infrared sensor 1075 is configured to receive an infrared signal
from a remote infrared signal generator and configured to transform
the infrared signal into information regarding a location of the
walking aid in an environment. For example, the walking aid can
include components of an infrared sensitive charge-coupled device
(CCD) camera. For example, the walking aid can include at least one
passive infrared sensor configured to detect infrared light emitted
by the remote signaling device. A non-limiting example of a passive
infrared sensor includes a solid state sensor made from one or more
pyroelectric materials, e.g., lithium tantalite and/or strontium
barium niobate. Infrared detectors are available from commercial
sources (from, e.g., SparkFun Electronics, Niwot, Colo.).
[0115] In an aspect, the at least one receiver 1025 comprises at
least one microphone 1076. In an aspect, the at least one
microphone 1076 is configured to receive an audio/acoustic signal
from a remote audio/acoustic signal generator and configured to
transform the audio/acoustic signal into information regarding a
location of the walking aid in an environment. For example, the
walking aid can include at least one microphone configured to
detect audible sound, e.g., audible beeping, emitted from the
remote signaling device. In some embodiments, the at least one
microphone is configured to detect infrasound or low-frequency
sound that is at a frequency below the "normal" limit of human
hearing or below about 20 hertz or cycles per second. In some
embodiments, the at least one microphone includes a transducer
configured to detect ultrasound. In an aspect, the at least one
microphone includes a sound transducer, e.g., a dynamic moving
coil, electret condenser, ribbon, or piezo-electric crystal sound
transducer.
[0116] Walking aid 910 of system 900 includes controller 1030
attached to the linear rod 1000 and operably connected to the at
least one receiver 1025 and to the two or more extendable and
retractable self-leveling load-bearing feet 1020. Controller 1030
includes a microprocessor and circuitry. In an aspect, the
microprocessor includes a central processing unit for controlling
one or more functions of the walking aid. The controller further
includes a system memory and a system bus that couples various
system components including the system memory to the
microprocessor. The microprocessor can include a processing unit, a
central processing unit (CPU), a digital signal processor (DSP), an
application-specific integrated circuit (ASIC), a field
programmable gate entry (FPGA), or the like, or any combinations
thereof, and can include discrete digital or analog circuit
elements or electronics, or combinations thereof. In an aspect, the
controller includes one or more ASICs having a plurality of
pre-defined logic components. In an aspect, the controller includes
one or more FPGA having a plurality of programmable logic
commands.
[0117] Controller 1030 further includes circuitry configured to
execute one or more instructions for operating components of the
walking aid, e.g., the at least one receiver and the two or more
extendable and retractable self-leveling load-bearing feet. In an
aspect, the circuitry includes at least one of software and/or a
processor programmed to execute one or more instructions for
operating the walking aid. In an aspect, the circuitry includes
circuitry configured to execute one or more instructions for
operating any or all other components incorporated into the walking
aid, e.g., a user-activated control mechanism, a user interface, at
least one sensor, at least one second sensor, an actuator, a power
source, a mechanical energy harvester, and/or a warning system. In
an aspect, the controller includes circuitry configured to execute
one or more instructions for actuating at least one of the two or
more extendable and retractable self-leveling load-bearing feet
based on the information regarding the location of the walking aid
in the environment.
[0118] In some embodiments, controller 1030 is connected to a user
interface, e.g., one or more input components and/or output
components for use by a user to interface with the walking aid. For
example, an input component, e.g., a microphone, button, or switch,
can be used as part of a user-activated control mechanism to
control extension and retraction of the two or more extendable and
retractable self-leveling load-bearing feet. Non-limiting examples
of input components include buttons, switches, keypads,
touch-screens, microphones, dials, or the like. For example, an
output component, e.g., a flashing light, can be used as part a
warning system configured to alert a user. Non-limiting examples of
output components include audio speakers, light emitting diodes or
other light generating devices, or a haptic device. In an aspect,
the user interface is associated with an external portion of hand
grip 1015 and/or linear rod 1000.
[0119] System 900 further includes remote signaling device 920 in
wireless communication with the at least one receiver 1025 of
walking aid 910. The remote signaling device 920 is configured to
transmit a signal 1035. For example, the remote signaling device
can include a transmitter which transmits a continuous or periodic
signal. In an aspect, system 900 includes one remote signaling
device 920. For example, a single remote signaling device can be
placed in association with a walking hazard, e.g., an uneven patch
of walking surface, to communicate with a walking aid when it comes
into range or proximity to the remote signaling device and the
associated walking hazard. In an aspect, system 900 includes two or
more remote signaling devices 920. For example, two or more remote
signaling devices can be placed along a walking surface, e.g., a
staircase or stairwell, to communicate with a walking aid when it
comes into range or proximity of the two or more remote signaling
devices.
[0120] In an aspect, the remote signaling device 920 includes one
or more beacons 921. For example, the one or more beacons can
include one or more radio beacons configured to emit a radio
frequency, e.g., high frequency (HF), very high frequency (VHF),
ultra-high frequency (UHF), or microwave frequencies. In an aspect,
at least one of the one or more beacons 921 emits a radio signal, a
magnetic field, an acoustic signal, an electromagnetic signal, or
an optical signal, as shown in block 922. In an aspect, at least
one of the one or more beacons 921 includes a camera. In an aspect,
at least one of the one or more beacons 921 includes Wi-Fi,
inaudible sound waves, or LED lighting.
[0121] In an aspect, remote signaling device 920 includes an
electromagnetic signal generator 923. In an aspect, the
electromagnetic signal generator 923 emits at least one of an
ultraviolet signal, a visible light signal, an infrared signal, a
microwave signal, or a radio wave signal. For example, the
electromagnetic signal generator can include one or more radio or
microwave beacons. In an aspect, the electromagnetic signal
generator 923 emits signals of a single or narrow bandwidth for
selective detection by the at least one receiver on the walking
aid. For example, the electromagnetic signal generator can include
one or more infrared beacons configured to continuously or
periodically transmit a modulated light beam in the infrared
spectrum, e.g., 980 nanometers, and the walking aid can include a
receiver with one or more filters to detect the specific wavelength
of infrared energy. In an aspect, the electromagnetic signal
generator 923 includes an optical output. For example, the
electromagnetic signal generator can include a laser or light
emitting diode (LED) for emitting one or more beams of visible
light. For example, the electromagnetic signal generator can
include an infrared LED for emitting an infrared signal.
[0122] In an aspect, the remote signaling device 920 includes a
radiofrequency signal generator 924. For example, the system can
include one or more radio beacons configured to transmit radio
signals detectable by a radiofrequency signal receiver associated
with a walking aid. For example, the system can include one or more
beacons configured to emit a radiofrequency, e.g., high frequency
(HF), very high frequency (VHF), or ultra-high frequency (UHF). In
an aspect, the radiofrequency signal generator 924 generates a
single or narrow radio frequency for detection by the at least one
receiver on the walking aid. Non-limiting examples of systems
making use of the radio spectrum include FM radios, radars,
cellular networks, DECT phones, WLAN, ZigBee, RFID, ultra-wideband,
high sensitive GNSS and pseudolite systems.
[0123] In an aspect, the remote signaling device 920 includes a
microwave signal generator 925. For example, the system can include
one or more microwave beacons configured to transmit microwave
signals detectable by a microwave signal receiver associated with
the walking aid. For example, the system can include one or more
beacons configured to emit microwave frequencies (3-30 GHz). In an
aspect, the microwave signal generator 925 generates a single or
narrow microwave frequency for detection by the at least one
receiver on the walking aid.
[0124] In an aspect, remote signaling device 920 includes a
magnetic signal generator 926. For example, the remote signaling
device can include magnetic beacon including a current carrying
coil, a capacitor, and a signal generator while the receiver
associated with the walking aid includes a tri-axial search-coil
magnetometer. See, e.g., Sheinker et al. (2013) "Localization in
3-D Using Beacons of Low Frequency Magnetic Field" IEEE
Transactions on Instrumentation and Measurement, 62:3194-3201,
which is incorporated herein by reference.
[0125] In an aspect, the remote signaling device 920 includes an
acoustic signal generator 927. In an aspect, the acoustic signal
generator 927 emits sound, ultrasound, or infrasound. In an aspect,
the acoustic signal generator 927 emits an audible signal. In an
aspect, the acoustic signal generator 927 emits an acoustic signal
just outside the range of human hearing. For example, the acoustic
signal generator can emit infrasound or low-frequency sound that is
at a frequency below the "normal" limit of human hearing or below
about 20 hertz or cycles per second. In an aspect, the acoustic
signal generator includes an audio sound transducer for generating
acoustic waves.
[0126] In an aspect, the remote signaling device 920 includes an
RFID signal/receiver 928. For example, the remote signaling device
can include a radiofrequency identification (RFID) tag readable by
the at least one receiver on the walking aid. In an aspect, the
RFID tag is powered and the at least one receiver includes an
antenna of sufficient size and sensitivity to detect the signal
from the tag. In an aspect, the remote signaling device 920
includes an RFID tag capable of being read from a distance, e.g.,
1-10 meters. For example, the walking aid can include an RFID
reader capable of reading RFID tags at 5 meters. In an aspect, the
read distance is dependent upon the RFID reader and antenna
associated with the walking aid and the properties of the RFID tag.
RFID tags and readers are available from commercial sources (from,
e.g., SkyRFID, Inc., Toronto, Ontario, Canada). In an aspect, the
RFID signal/receiver 928 includes a passive RFID system. See, e.g.,
Sabesan et al. (2014) "Wide area passive UHF RFID system using
antenna diversity combined with phase and frequency hopping" IEEE
Transactions on Antennas and Propagation, 62:878-888, which is
incorporated herein by reference.
[0127] In an aspect, the remote signaling device 920 includes a
local positioning system 929. In an aspect local positioning system
929 includes three or more signaling beacons with known locations.
For example, the location positioning system can include three or
more signaling beacons distributed throughout a user's residence
and particularly associated with hazardous or potentially hazardous
walking surfaces, e.g., stairs or surface transitions. The one or
more signaling beacons can emit one or more of radio signals,
electromagnetic signals, magnetic signals, acoustic signals, or
optical signals. In an aspect, local positioning system 929
includes a real-time locating system. In an aspect, local
positioning system 929 includes an indoor positioning system. In an
aspect, local positioning system 929 includes a hybrid positioning
system. Non-limiting examples of technologies for use in a local
position system include cameras, infrared, acoustic, WLAN/WiFi,
RFID, ultra-wideband, high sensitive GNSS, pseudolites, inertial
navigation, and magnetic systems.
[0128] In some embodiments, controller 1030 includes circuitry 1032
configured to correlate the information regarding the location of
the walking aid in the environment with a map of the environment.
In an aspect, the map includes a map derived from a global
positioning system (GPS). In an aspect, the map includes a map
derived from a local positioning system. In an aspect, the map
includes a floor plan of a house or other building. For example,
the map can include a map of the user's home. For example, the map
can include a map of a location frequented by the user, e.g., a
school, a health clinic or hospital, an airport, a shopping mall,
or other place of business. In an aspect, the map includes
information regarding the walking surfaces associated with the map.
For example, the map can include information regarding the surface
of the walking surface, e.g., smooth, rough, stepped, or uneven, or
transition points in the walking surface, e.g., transition from one
material to another, changes in slope, or steps.
[0129] In some embodiments, the walking aid 910 of system 900
includes at least one sensor 1040 operably coupled to the
controller 1030 and configured to detect a parameter of a walking
surface 1045 in proximity to the walking aid 910, wherein the
controller 1030 includes circuitry configured to receive
information regarding the detected parameter of the walking surface
1045 from the at least one sensor 1040 and circuitry configured to
actuate at least one of the two or more extendable and retractable
self-leveling load-bearing feet 1020 in response to the information
regarding the detected parameter of the walking surface 1045. The
parameter of the walking surface includes at least one of a surface
type, a friction coefficient, a roughness, a slope, an edge, a
height, a distance, or a bump.
[0130] In an aspect, at least one sensor 1040 is incorporated into
an interior portion of linear rod 1000. For example, an
accelerometer, tilt sensor, or inclinometer can be incorporated
into an interior portion of the linear rod. In an aspect, at least
one sensor 1040 is incorporated onto an outer surface of linear rod
1000. For example, a camera or proximity sensor can be attached to
an outer surface of the linear rod. In an aspect, at least one
sensor 1040 is incorporated into hand grip 1015. In some
embodiments, at least one of the two or more extendable and
retractable self-leveling load-bearing feet 1020 includes at least
one sensor 1040. For example, that portion of an extendable and
retractable self-leveling load-bearing foot that makes contact with
the walking surface can include one or more sensors, e.g., one or
more pressure sensors.
[0131] In an aspect, the at least one sensor 1040 includes a
tactile sensor. In an aspect, at least one sensor 1040 includes at
least one of a tilt sensor or an inclinometer. In an aspect, at
least one sensor 1040 includes a texture sensor. In an aspect, at
least one sensor 1040 includes at least one of an accelerometer or
a gyroscope. In an aspect, the accelerometer is configured to be
located on the linear rod and configured to detect height
differences between successive contacts with the walking surface.
In an aspect, the accelerometer is configured to be located on a
user. In an aspect, at least one sensor 1040 includes a camera. In
an aspect, at least one sensor 1040 includes a proximity sensor. In
an aspect, the proximity sensor includes at least one of a
photoelectric proximity sensor, an acoustic proximity sensor, and a
capacitive proximity sensor. In an aspect, at least one sensor 1040
includes at least one pressure sensor. Non-limiting aspects of
sensors for detecting a parameter of a walking surface in proximity
to a walking aid have been described above herein.
[0132] In an aspect, controller 1030 includes circuitry configured
to actuate extension or retraction of at least one of the two or
more extendable and retractable self-leveling load-bearing feet
1020 in response to the information regarding the detected
parameter of the walking surface 1045 before the at least one of
the two or more extendable and retractable self-leveling
load-bearing feet 1020 contacts the walking surface 1045. In an
aspect, controller 1030 includes circuitry configured to
independently and automatically actuate the two or more extendable
and retractable self-leveling load-bearing feet 1020. In an aspect,
controller 1030 includes circuitry configured to independently and
automatically actuate the two or more extendable and retractable
self-leveling load-bearing feet 1020 to a configuration based on a
position of the walking aid 910 relative to the walking surface
1045. In an aspect, controller 1030 includes circuitry configured
to independently and automatically actuate the two or more
extendable and retractable self-leveling load-bearing feet 1020 to
a configuration based on a position of variance of the walking aid
910 from vertical.
[0133] In some embodiments, walking aid 910 of system 900 includes
a user-activated control mechanism 1050 to control extension and
retraction of the two or more extendable and retractable
self-leveling load-bearing feet. In an aspect, the user-activated
control mechanism 1050 is a voice-activated control mechanism. For
example, the walking aid can include a microphone and circuitry
configured to receive, process, and transmit a voice command to the
controller. For example, the voice commands can include "on," "off"
"extend," "retract," and the like. In an aspect, the user-activated
control mechanism 1050 is a manually activated control mechanism.
For example, the walking aid can include one or more buttons or
other pressure sensitive pads and circuitry configured to receive
and process a manual activation command, e.g., pushing of a button.
In an aspect, at least a portion of the user-activated control
mechanism 1050 is incorporated into hand grip 1015. For example,
the hand grip can include a microphone for receiving a voice
command. For example, the hand grip can include one or more
pressure-sensitive buttons or pads for sending a manual activation
command.
[0134] In some embodiments, walking aid 910 of system 900 includes
at least one second sensor 1055 operably coupled to controller 1030
and configured to detect a parameter of the walking aid 910,
wherein the controller 1030 includes circuitry configured to
receive information regarding the detected parameter of the walking
aid 910 from the at least one second sensor 1055 and circuitry
configured to actuate at least one of the two or more extendable
and retractable self-leveling load-bearing feet 1020 in response to
the information regarding the detected parameter of the walking aid
910. In an aspect, the parameter of the walking aid comprises at
least one of tip motion, movement, position of the walking aid
relative to the walking surface, distance from the walking surface,
and/or tilt angle of the walking aid relative to the walking
surface. In an aspect, the at least one second sensor 1055 includes
at least one of a tactile sensor, a tilt sensor, an inclinometer,
an accelerometer, a gyroscope, a camera, a whisker sensor, a
proximity sensor, or a pressure sensor. In an aspect, the proximity
sensor comprises at least one of a photoelectric proximity sensor,
an acoustic proximity sensor, and a capacitive proximity
sensor.
[0135] In an aspect, at least one second sensor 1055 is configured
to determine a movement of the walking aid 910 after it loses
contact with the walking surface 1045. For example, an
accelerometer in combination with a pressure sensor can be used to
detect when the walking aid loses contact with the walking surface
and what the movement of the walking aid looks like after losing
contact. In an aspect, a tilt sensor or inclinometer in combination
with accelerometers can measure the pitch and roll of the walking
aid relative to the walking surface after the walking aid loses
contact with the walking surface.
[0136] In an aspect, at least one second sensor 1055 is configured
to detect tip motion at the first end 1005 or the second end 1010
of the linear rod 1000 after initial contact with the walking
surface 1045. For example, the at least one second sensor can be
used to detect a tipping motion or tilt of the walking aid relative
to the walking surface after initial contact with the walking
surface. For example, a 2-axis inclinometer with accelerometers can
be used to measure a tipping motion or tilt of the walking aid
relative to a walking surface.
[0137] In an aspect, controller 1030 is operably coupled to the at
least one second sensor 1055 and includes circuitry configured to
receive information regarding the detected parameter of the walking
aid 910 from the at least one second sensor 1055 and circuitry
configured to actuate at least one of the two or more extendable
and retractable self-leveling load-bearing feet 1020 in response to
the information regarding the detected parameter of the walking aid
910. For example, the controller can include circuitry configured
to receive information regarding a tip motion of the walking aid, a
movement of the walking aid, a position or orientation of the
walking aid relative to the walking surface, a distance of the
walking aid from the walking surface, or tilt angle or variance
from vertical of the walking aid relative to the walking surface.
For example, the controller can include circuitry configured to
actuate at least one of the two or more extendable and retractable
self-leveling load-bearing feet in response to information
regarding at least one of a tip motion of the walking aid, a
movement of the walking aid, a position or orientation of the
walking aid relative to the walking surface, a distance of the
walking aid from the walking surface, or a tilt angle or variance
from vertical of the walking aid relative to the walking surface.
For example, the controller can receive information from the at
least one second sensor, e.g., an inclinometer or tilt meter,
regarding the position, e.g., tilt, of the walking aid relative to
the walking surface and accordingly adjust, e.g., extend or
retract, at least one of the extendable and retractable
self-leveling load-bearing feet.
[0138] In an aspect, controller 1030 includes circuitry configured
to actuate at least one of the two or more extendable and
retractable self-leveling load-bearing feet 1020 in response to
movement of the walking aid 910 after it loses contact with the
walking surface 1045. In an aspect, controller 1030 includes
circuitry configured to actuate extension or retraction of at least
one of the two or more extendable and retractable self-leveling
load-bearing feet 1020 in response to movement of the walking aid
910 after it loses contact with the walking surface 1045. In an
aspect, controller 1030 includes circuitry configured to actuate
extension or retraction of at least one of the two or more
extendable and retractable self-leveling load-bearing feet 1020 to
orient said at least one of the two or more extendable and
retractable self-leveling load-bearing feet 1020 relative to an
orientation of the walking aid 910.
[0139] In some embodiments, walking aid 910 of system 900 includes
an actuator 1060 operably coupled to the controller 1030 and
configured to actuate the two or more extendable and retractable
self-leveling load-bearing feet 1020. For example, the walking aid
can include one or more motors operably coupled to the controller
and configured to actuate the two or more extendable and
retractable self-leveling load-bearing feet. In an aspect, the
actuator 1060 comprises at least one of a spring, a motor, a
pneumatic actuator, a hydraulic actuator, a linear actuator, a
mechanical actuator, solenoid, or muscle wire. Not-limiting aspects
of actuators for use in a walking aid have been described above
herein.
[0140] In an aspect, walking aid 910 of system 900 includes a power
source. In an aspect, the walking aid 910 includes one or more
disposable batteries, e.g., cells, buttons, thin-film batteries, or
microbatteries. For example, the components of the walking aid can
be powered by a conventional battery, e.g., a disposable 9 volt
battery. Non-limiting examples of disposable batteries include
zinc-carbon, alkaline, lithium, zinc-chloride, zinc-air, or
silver-oxide batteries. In an aspect, the one or more batteries
include one or more rechargeable batteries. For example, the
components of the walking aid can be powered by one or more
rechargeable lithium-ion batteries. Non-limiting examples of
rechargeable batteries include nickel-cadmium, nickel-zinc, nickel
metal hydride, silver-zinc, or lithium ion.
[0141] In some embodiments, walking aid 910 of system 900 includes
a mechanical energy harvester 1065 configured to store electrical
or mechanical energy to power actuation of the two or more
extendable and retractable self-leveling load-bearing feet 1020. In
an aspect, the mechanical energy harvester stores mechanical energy
generated when the walking aid periodically contacts the walking
surface. In an aspect, the intermittent mechanical energy generated
when the walking aid contacts the walking surface is converted into
electrical energy through at least one of piezoelectric conversion,
electro-active polymers (EAP) conversion, or electromagnetic
conversion. In an aspect, the mechanical energy harvester stores
electrical or mechanical energy for powering at least one actuator
configured to the two or more extendable and retractable
self-leveling load-bearing feet.
[0142] In some embodiments, walking aid 910 of system 900 includes
warning system 1070 operably coupled to the controller 1030 and
configured to alert a user. For example, the walking aid can
include a warning system that alerts a user to a dangerous walking
surface or situation. For example, the walking aid can include a
warning system that alerts a user to the dangers of a slippery
surface, e.g., an oily, icy, or water-covered surface). For
example, the walking aid can include a warning system that alerts a
user to dangers associated with a specific friction coefficient,
e.g., too little or too much, that might create a dangerous walking
situation. For example, the walking aid can include a warning
system that alerts a user to the dangers of a slope in the walking
surface, e.g., an incline or a decline of a percent grade that
might be of difficulty for the user. For example, the walking aid
can include a warning system that alerts a user to the proximity of
an edge, e.g., an edge associated with a curb or a step. For
example, the walking aide can include a warning system that alerts
a user to poor load-bearing capability of a surface, e.g., the poor
load-bearing capability of deep sand or thick grass.
[0143] In an aspect, warning system 1070 is at least one of an
audible warning system, an optical warning system, or a haptic
warning system. In an aspect, the warning system includes a
speaker, a soundcard, and circuitry configured to broadcast an
audible alert in response to receiving a warning signal from the
controller. For example, the warning system can include an audible
alert, e.g., a beeping sound or a warning voice. In an aspect, the
warning system includes one or more light sources, e.g., light
emitting diodes, and circuitry configured to emit an optical alert,
e.g., a flashing red light, in response to receiving a warning
signal from the controller. In an aspect, the warning system
includes a vibrator and circuitry configured to vibrate at least a
portion of the walking aid in response to receiving a warning
signal from the controller. For example, the hand grip of the
walking aid can include a haptic device, e.g., a vibrator, which
vibrates the hand grip in response to a warning signal from the
controller.
[0144] In an aspect, warning system 1070 is incorporated into the
hand grip 1015 of the walking aid 910. In an aspect, at least one
of an audible warning system, an optical warning system, or a
haptic warning system is incorporated into hand grip 1015. For
example, the warning system can include one or more lights, e.g.,
LEDs, incorporated into the hand grip that flash on/off to alert
the user. For example, the warning system can include a speaker
incorporated into the hand grip that emits an audible sound, e.g.,
a beeping sound, to alert the user. For example, the warning system
can include a haptic vibration device that vibrates the hand grip
of the walking device to alert the user.
[0145] Those having ordinary skill in the art will recognize that
the state of the art has progressed to the point where there is
little distinction left between hardware and software
implementations of aspects of systems; the use of hardware or
software is generally (but not always, in that in certain contexts
the choice between hardware and software can become significant) a
design choice representing cost vs. efficiency tradeoffs. Those
having ordinary skill in the art will recognize that there are
various vehicles by which processes and/or systems and/or other
technologies disclosed herein can be effected (e.g., hardware,
software, and/or firmware), and that the preferred vehicle will
vary with the context in which the processes and/or systems and/or
other technologies are deployed. For example, if an implementer
determines that speed and accuracy are paramount, the surgeon may
opt for a mainly hardware and/or firmware vehicle; alternatively,
if flexibility is paramount, the implementer may opt for a mainly
software implementation; or, yet again alternatively, the
implementer may opt for some combination of hardware, software,
and/or firmware. Hence, there are several possible vehicles by
which the processes and/or devices and/or other technologies
disclosed herein may be effected, none of which is inherently
superior to the other in that any vehicle to be utilized is a
choice dependent upon the context in which the vehicle will be
deployed and the specific concerns (e.g., speed, flexibility, or
predictability) of the implementer, any of which may vary.
[0146] In a general sense the various aspects disclosed herein
which can be implemented, individually and/or collectively, by a
wide range of hardware, software, firmware, or any combination
thereof can be viewed as being composed of various types of
"electrical circuitry." Consequently, as used herein "electrical
circuitry" includes, but is not limited to, electrical circuitry
having at least one discrete electrical circuit, electrical
circuitry having at least one integrated circuit, electrical
circuitry having at least one application specific integrated
circuit, electrical circuitry forming a general purpose computing
device configured by a computer program (e.g., a general purpose
computer configured by a computer program which at least partially
carries out processes and/or devices disclosed herein, or a
microdigital processing unit configured by a computer program which
at least partially carries out processes and/or devices disclosed
herein), electrical circuitry forming a memory device (e.g., forms
of random access memory), and/or electrical circuitry forming a
communications device (e.g., a modem, communications switch, or
optical-electrical equipment). The subject matter disclosed herein
may be implemented in an analog or digital fashion or some
combination thereof.
[0147] At least a portion of the devices and/or processes described
herein can be integrated into a data processing system. A data
processing system generally includes one or more of a system unit
housing, memory such as volatile or non-volatile memory, processors
such as microprocessors or digital signal processors, computational
entities such as operating systems, drivers, and applications
programs, one or more interaction devices (e.g., a touch pad, a
touch screen, an antenna, etc.), and/or control systems including
feedback loops and control motors (e.g., feedback for sensing the
walking surface and/or sensing the position of the walking aid
relative to the walking surface; control actuators for actuating
the extendable and retractable self-leveling load-bearing feet). A
data processing system may be implemented utilizing suitable
commercially available components, such as those typically found in
data computing/communication and/or network computing/communication
systems.
[0148] The foregoing detailed description has set forth various
embodiments of the devices and/or processes via the use of block
diagrams, flowcharts, and/or examples. Insofar as such block
diagrams, flowcharts, and/or examples contain one or more functions
and/or operations, it will be understood by those within the art
that each function and/or operation within such block diagrams,
flowcharts, or examples can be implemented, individually and/or
collectively, by a wide range of hardware, software, firmware, or
virtually any combination thereof. In one embodiment, several
portions of the subject matter described herein may be implemented
via Application Specific Integrated Circuits (ASICs), Field
Programmable Gate Arrays (FPGAs), digital signal processors (DSPs),
or other integrated formats. However, some aspects of the
embodiments disclosed herein, in whole or in part, can be
equivalently implemented in integrated circuits, as one or more
computer programs running on one or more computers (e.g., as one or
more programs running on one or more computer systems), as one or
more programs running on one or more processors (e.g., as one or
more programs running on one or more microprocessors), as firmware,
or as virtually any combination thereof, and that designing the
circuitry and/or writing the code for the software and or firmware
would be well within the skill of one of skill in the art in light
of this disclosure. In addition, the mechanisms of the subject
matter described herein are capable of being distributed as a
program product in a variety of forms, and that an illustrative
embodiment of the subject matter described herein applies
regardless of the particular type of signal bearing medium used to
actually carry out the distribution. Examples of a signal bearing
medium include, but are not limited to, the following: a recordable
type medium such as a floppy disk, a hard disk drive, a Compact
Disc (CD), a Digital Video Disk (DVD), a digital tape, a computer
memory, etc.; and a transmission type medium such as a digital
and/or an analog communication medium (e.g., a fiber optic cable, a
waveguide, a wired communications link, a wireless communication
link (e.g., transmitter, receiver, transmission logic, reception
logic, etc.), etc.).
[0149] One skilled in the art will recognize that the herein
described component, devices, objects, and the discussion
accompanying them are used as examples for the sake of conceptual
clarity and that various configuration modifications are
contemplated. Consequently, as used herein, the specific exemplars
set forth and the accompanying discussion are intended to be
representative of their more general classes. In general, use of
any specific exemplar is intended to be representative of its
class, and the non-inclusion of specific components, devices, and
objects should not be taken as limiting.
[0150] With respect to the use of substantially any plural and/or
singular terms herein, the plural can be translated to the singular
and/or from the singular to the plural as is appropriate to the
context and/or application. The various singular/plural
permutations are not expressly set forth herein for sake of
clarity.
[0151] In some instances, one or more components can be referred to
herein as "configured to," "configured by," "configurable to,"
"operable/operative to," "adapted/adaptable," "able to,"
"conformable/conformed to," etc. Those skilled in the art will
recognize that such terms (e.g. "configured to") can generally
encompass active-state components and/or inactive-state components
and/or standby-state components, unless context requires
otherwise.
[0152] While particular aspects of the present subject matter
described herein have been shown and described, changes and
modifications can be made without departing from the subject matter
described herein and its broader aspects and, therefore, the
appended claims are to encompass within their scope all such
changes and modifications as are within the true spirit and scope
of the subject matter described herein. Terms used herein, and
especially in the appended claims (e.g., bodies of the appended
claims) are generally intended as "open" terms (e.g., the term
"including" should be interpreted as "including but not limited
to," the term "having" should be interpreted as "having at least,"
the term "includes" should be interpreted as "includes but is not
limited to," etc.). If a specific number of an introduced claim
recitation is intended, such an intent will be explicitly recited
in the claim, and in the absence of such recitation no such intent
is present. For example, as an aid to understanding, the following
appended claims can contain usage of the introductory phrases "at
least one" and "one or more" to introduce claim recitations.
However, the use of such phrases should not be construed to imply
that the introduction of a claim recitation by the indefinite
articles "a" or "an" limits any particular claim containing such
introduced claim recitation to claims containing only one such
recitation, even when the same claim includes the introductory
phrases "one or more" or "at least one" and indefinite articles
such as "a" or "an" (e.g., "a" and/or "an" should typically be
interpreted to mean "at least one" or "one or more"); the same
holds true for the use of definite articles used to introduce claim
recitations. In addition, even if a specific number of an
introduced claim recitation is explicitly recited, such recitation
should typically be interpreted to mean at least the recited number
(e.g., the bare recitation of "two recitations," without other
modifiers, typically means at least two recitations, or two or more
recitations). Furthermore, in those instances where a convention
analogous to "at least one of A, B, and C, etc." is used, in
general such a construction is intended in the sense one having
skill in the art would understand the convention (e.g., "a system
having at least one of A, B, and C" would include but not be
limited to systems that have A alone, B alone, C alone, A and B
together, A and C together, B and C together, and/or A, B, and C
together, etc.). In those instances where a convention analogous to
"at least one of A, B, or C, etc." is used, in general such a
construction is intended in the sense one having skill in the art
would understand the convention (e.g., "a system having at least
one of A, B, or C" would include but not be limited to systems that
have A alone, B alone, C alone, A and B together, A and C together,
B and C together, and/or A, B, and C together, etc.). Typically a
disjunctive word and/or phrase presenting two or more alternative
terms, whether in the description, claims, or drawings, should be
understood to contemplate the possibilities of including one of the
terms, either of the terms, or both terms unless context dictates
otherwise. For example, the phrase "A or B" will be typically
understood to include the possibilities of "A" or "B" or "A and
B."
[0153] All of the above U.S. patents, U.S. patent application
publications, U.S. patent applications, foreign patents, foreign
patent applications and non-patent publications referred to in this
specification and/or listed in any Application Data Sheet, are
incorporated herein by reference, to the extent not inconsistent
herewith.
[0154] While various aspects and embodiments have been disclosed
herein, other aspects and embodiments will be apparent to those
skilled in the art. The various aspects and embodiments disclosed
herein are for purposes of illustration and are not intended to be
limiting, with the true scope and spirit being indicated by the
following claims.
* * * * *