CN108201477A - For the handheld tool of leveling incoordinate movement - Google Patents
For the handheld tool of leveling incoordinate movement Download PDFInfo
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- CN108201477A CN108201477A CN201611272927.6A CN201611272927A CN108201477A CN 108201477 A CN108201477 A CN 108201477A CN 201611272927 A CN201611272927 A CN 201611272927A CN 108201477 A CN108201477 A CN 108201477A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
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- Orthopedic Medicine & Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
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Abstract
A kind of handheld tool, it includes the handle for being kept by user, it is configured to connect to the linking arm extended from the handle of user's auxiliary device, the first Inertial Measurement Unit (" IMU ") being installed on linking arm represents the feedback data of the measured value to obtain for the action of auxiliary device or one or more measured values of orientation and generating, the actuator of connection at least two orthogonal dimensions to manipulate user's auxiliary device by the linking arm, and the motion control system of connection, automatic leveling of user's auxiliary device to reference frame is provided when user manipulates the handheld tool to provide instruction to actuator to receive the feedback data from the first IMU and connect.
Description
Technical field
Present application relates generally to the tools for leveling (leveling) or stable muscular movement.
Background technology
It is body part to take action bad, and typically the part or all of function of limbs is lost.This usually by Muscle weakness, hold
Long power is poor or shortage activity control causes.It is typically such as Parkinson's disease, ALS, apoplexy, multiple sclerosis or brain fiber crops
The sign of the neurological disorders of numbness.Available technology (if effectively) is seldom limited with the bad or action that helps to take action.As
As a result, many individuals cannot carry out the simple task of such as oneself feeding, them is forced to rely on nurse.
Description of the drawings
Non-limiting or non-exclusive embodiment is described with reference to the following drawings, wherein unless otherwise stated, similar attached drawing mark
Note refers to similar component in all each attached drawings.Attached drawing is necessarily proportional, and description is illustrated on the contrary, focusing on
In principle.
Figure 1A is according to the perspective view of the handheld tool of embodiment of the disclosure, and automatic tune is provided for user's auxiliary device
It is flat.
Figure 1B is according to the cutaway perspective view of the handheld tool of embodiment of the disclosure, is carried for user's auxiliary device
For automatic leveling.
Fig. 1 C are according to the plan view of the handheld tool of embodiment of the disclosure, and automatic tune is provided for user's auxiliary device
It is flat.
Fig. 1 D are according to the side view of the handheld tool of embodiment of the disclosure, and automatic tune is provided for user's auxiliary device
It is flat.
Fig. 2 is the functional structure chart according to embodiment of the disclosure, is shown as user's auxiliary device and provides automatic leveling
Handheld tool circuit system component.
Fig. 3 is the functional structure chart according to embodiment of the disclosure, and the user's auxiliary device for being shown as handheld tool carries
For the component of self-leveling motion control system.
Fig. 4 is according to the perspective view of the handheld tool of embodiment of the disclosure, is used with (fashioned) is made into holding
In user's auxiliary device of the cup to drink water.
Specific embodiment
The self-leveling device of user's auxiliary device, system and the operating method described herein for being used to provide handheld tool
Embodiment.In the following description, many specific details are provided to provide the thorough understanding to multiple embodiments.However, this
Field technology personnel are it will be appreciated that technology described herein without one or more specific details or can use other
Implement in the case of method, component, material etc..In other cases, be not shown or described in detail well known structure, material,
Or operation, to avoid some aspects unobvious are made.
In text of the statement, refer to " one embodiment " or " embodiment " refer to relatively described with the embodiment it is specific
Feature, structure or characteristic be included at least one embodiment of the application.Therefore, term " in one embodiment " or
" in embodiment " appearance of different places necessarily refers to same embodiment in the whole text in this application.In addition, specific feature,
Structure or characteristic can merge in any suitable manner in one or more embodiments.
The technology helped of having trembled to the mankind has developed, but they are not suitable for the mankind and tremble in magnitude excessively pole
It holds or due to lacking the bad a variety of situations that causes to tip or fall of muscle control action.Use Inertial Measurement Unit
The stabilized platform of (" IMU ") be it is military and for both fans camera (such as brushless holder (gimbal) control
Device) research and development.Stable flight controller similarly stablizes mobile platform in three dimensions.However, these schemes are not found
It is feasible to combine into small-sized light hand tools, such as eaten so that the people with muscle strength or muscle control limitation is helped to perform
Meal drinks water or other everyday tasks.In addition, certain occupations (such as surgical field) can be from tool leveling and/or stabilization
Middle profit, especially under high-pressure environment, such as operating room or the surgical hospital of army that even moves.
Attached drawing 1A-D illustrates handheld tool 100, according to an embodiment of the present application, can automatic leveling, and certain
Stablize in embodiment, be connected to user's auxiliary device 105 of the end of handheld tool 100.Figure 1A is the perspective of handheld tool 100
Figure and Figure 1B be partial cut-away perspective view, Fig. 1 C be plan view, and Fig. 1 D be side view, all is the same of handheld tool 100
One embodiment.Embodiment shown in handheld tool 100 include user's auxiliary device 105, linking arm 110, actuator 115,
Handle 120 and circuit system.The embodiment shown of actuator 115 includes actuator 125, actuator 130, connection
Portion 135 and connecting portion 140.Circuit system includes leveling IMU145, motion control system 150, power supply 155, position sensor
(being not shown in Figure 1A-D), system controller 160, system storage 165 and communication interface 170.In one embodiment
In, handheld tool 100 may also comprise the IMU175 that trembles.
Handheld tool 100 is automatic leveling (and stabilization of trembling in some embodiments) platform, may be adapted to keep various
Different user's auxiliary devices 105.Handheld tool 100 provides effective tune using electric actuator and feedback control system
It is flat.Figure 1A-D show user's auxiliary device 105 with spoon, however, can be embodied as much different have a meal for auxiliary device 105
Utensil, the utensil that drinks water (such as seeing cup holder 400 in Fig. 4) apply cosmetics device, instruction device, a variety of professional tools
(such as Surigical tool) or other.
Handheld tool 100 shows that embodiment includes the leveling IMU145 being arranged on linking arm 145, is rigidly connected to
User's auxiliary device 105 is to measure the action of user's auxiliary device 105 and orientation.Leveling IMU145 is to motion control system 150
Output represents the feedback data of the action measured and orientation.Leveling IMU145 can utilize gyroscope and accelerometer real
It is existing or even additional including magnetometer.In one embodiment, leveling IMU145 is solid-state device.
In one embodiment, motion control system 150 is inquired leveling IMU145 and is assisted in given time relative to user
Linear acceleration, angular speed and the orientation of the referential (such as gravitational vectors) of device 105.Then motion control system 150
Perform algorithm with assess user's auxiliary device 105 in three dimensions (3D) relative to referential orientation.Gravity is relative to tune
This assessment of flat IMU (and user's auxiliary device 105) main body frame or the real-time continuous update of assessment vector simultaneously are used to generate
For driving and controlling the command signal of actuator 115 in real time.In one embodiment, command signal includes overturning instruction
And pitch demand.
Actuator 115 is connected to user's auxiliary device 105 to operate user's auxiliary at least two orthogonal dimensions
Device 105.In the embodiment shown in this, which includes around the rotation of pitch axis 180 and around turning over
The rotation of shaft 185.Pitch axis 180 is orthogonal to torsion shaft 185, is longitudinally extended and extends through the handle 120.In other embodiments,
This two action dimensions do not need to be orthogonal.In addition, in more other embodiment, can increase to actuator 115 additional
Degree of freedom, such as line movement and even sideway rotation.
Actuator 115 is present in handheld tool 100 with mobile connection arm 110 and by prolonging relative to handle 120
User's auxiliary device 105 is stretched with automatic leveling, and in some cases, stabilization of trembling.If user's auxiliary device 105 relative to
Fixed reference system (such as gravitational vectors) pitching or overturning, motion control system 150 is by commanding actuator device assembly 115 opposite
Direction mobile subscriber's auxiliary device 105 is trembled with compensating and keeping leveling to be orientated or even provide offset orientation with offsetting.It is whole
Effect is that user's auxiliary device 105 remains fixed (or even stable) in orientation, no matter handle is in the object of actuator 115
How to be orientated in the reason limit.
The embodiment shown of actuator 115 includes actuator 125, and the output provided around torsion shaft 185 turns
Action.This rotary movement is connected to actuator 130 via connecting portion 135 so that actuator 125 surrounds 185 object of torsion shaft
Manage revolving actuator 130.The embodiment shown of actuator 130 provides the output spinning movement around sloping shaft 180.Pitching
Linking arm is connected to rotary movement, and passes through and extends user's auxiliary device 105, via connecting portion 140 so that actuator 130
Pitching user auxiliary device 105, and actuator 125 overturns user's auxiliary device 125.These orthogonal spinning movements are independently controlled
System.
In one embodiment, handheld tool 100 further comprises two position sensors, to motion control system
150 provide the feedback position information for representing the output phase of actuator 125 and 130 for the rotation position of handle 120.In other words
It says, position sensor represents position of the connecting portion 135 and 140 relative to handle 120.In one embodiment, each position passes
Sensor is Hall sensor, monitors the position of its corresponding connecting portion 135 or 140.Include other of potentiometer, encoder etc.
Position sensor can also be implemented.
Traditional stabilising arrangement attempts to provide stabilization using pendulum (weighted pendulum) again.It is however, it is necessary to heavier
Quality is to force platform to be put in horizontality.The shortcomings that such realization method, volume and quality and pendulum including requirement existed
The potential of its natural frequency swings and vibrates.The set point (equalization point) of user's auxiliary device is limited not by mechanical component
It can advantageously adjust.In addition, it cannot be collected with the relevant data of user by these pure mechanical devices.On the contrary, hand-held
The feedback control system used in tool 100 can reach much better performance with the specification that may be significantly smaller.Do not require the matter of weight
Amount, and motion control system 150 can particularly tune to react various unconscious movements (such as stabilization of trembling).In fact,
Motion control system 150 may be programmed to respond uncoordinated action (low frequency) for automatic leveling and the unconscious action of response
(high frequency) is trembled with stablizing the mankind.
In addition, system controller 160 can be programmed to monitor and collect the number of the severity about user health situation
According to (such as keeping the ability of horizontal alignment, the amount of reaction control auxiliary needed, it is not intended to know amount for action of trembling, etc.) simultaneously
It is used to finally export via communication interface 170 during this data is stored into the daily record in system storage 165.Daily record can be divided
It analyses and is supplied to medical staff to diagnose and treat the health status of user/patient.The active control that motion control system 150 provides
System can be programmed further using the part as treatment plan as the time is adjusted with smaller incrementss.The treatment plan can make
It is monitored with daily record and is customized based on each patient by reference to the daily record.For example, one kind as treatment or training, main
The amount of dynamic leveling/stabilization is incrementally decreased at a predetermined rate, and result is periodically monitored with reference to the daily record.
In one embodiment, linking arm 110 be embodied as it is permanent, be fixedly attached to sole user's auxiliary device 105.
In other embodiment, linking arm 110 can be convenient for impermanency connection to remove or substitute user's auxiliary device 105.Using it is non-forever
Connection allows users to different types of user's auxiliary device 105 being inserted or attached to handheld tool 100 long.For example, user
Auxiliary device 105 can as it is a variety of it is different have a meal or the utensil that drinks water (such as spoon, knife, tea, cup retainer), personal hygiene
Tool (such as toothbrush, dental floss stick), dressing tool (such as applying cosmetics devices, comb), professional tool (such as surgical operation work
Tool), instruction device (such as laser pen or teacher's pointer) or other implementations.The automatic leveling (and stabilization of optionally trembling) is functionally
It can help that there is the user of uncoordinated (or unconscious) muscular movement with by providing the independence to the bigger of everyday tasks
And self-contr ol, there is improved quality of life.In addition, handheld tool 100 can have professional purposes, help is not subjected to not
Those people of coordination/unconscious muscular movement.
Fig. 2 is the functional structure chart according to the embodiment of the present invention, shows the functional component of circuit system 200.System
Circuit 200 shows the illustrative functions control unit operated for handheld tool 100.Embodiment shown in this of circuit system 200
Including motion control system 205, system storage 210, system controller 215, communication interface 220, power supply 225, leveling
IMU230, position sensor 235 and the IMU240 that trembles.
As described above, motion control system 205, which receives (such as inquiry), carrys out the feedback data of self-level(l)ing IMU230 to determine
The orientation of user's auxiliary device 105 and action.This feedback data is analyzed using control algolithm is used for operated actuator to generate
The instruction of component 115.In one embodiment, motion control system 205 is performed as Digital Signal Processing (" DSP ") circuit.
In another embodiment, motion control system 205 is on system controller 215 performs and is stored in system storage 210
Software/firmware logic.In one embodiment, system controller 215 is embodied as microprocessor and system storage 210 is non-easy
The property lost memory (such as flash memory).Other kinds of memory and controller can be used.
In one embodiment, communication interface 220 is communicatively connected on system controller 215 is stored in system and deposits to export
Data (such as usage log) in reservoir 210.Communication interface 220 can be realized as wired or wireless interface, such as general series
Interface (" USB "), wireless Bluetooth interface, WIFI interface, cellular interface or other.
As described above, leveling IMU230 is arranged to monitor orientation and the action of user's auxiliary device 105.It is shown in Figure 1A-D
Embodiment in, leveling IMU145 is arranged on linking arm 145.Handheld tool 100 is permanently affixed in user's auxiliary device 105
On embodiment in, leveling IMU230 can also be rigidly mounted to that user's auxiliary device 105 itself is upper or linking arm 110 is it is contemplated that be
The ennation of user's auxiliary device 105.Leveling IMU230 can be embodied as solid state sensor, including one or more accelerometers,
Gyroscope or magnetometer.
Position sensor 235 is relative sensors, measures phase of the output phase for handle 120 of actuator 115
To position.In one embodiment, position sensor 235 is Hall sensor, by the position for measuring connecting portion 135 and 140
Put the position of the output of monitoring actuator 125 and 130.The relative position information that position sensor 235 exports can record system
Great automatic leveling is needed with determining user in daily record in memory 210 and therefore diagnoses the seriousness and hair of given user
Exhibition.
In one embodiment, handheld tool 100 can further comprise the IMU240 that trembles, and be rigidly connected to handle 120
On to measure action/orientation of handle 100.The feedback information that trembles that the IMU240 that trembles needs also can record system storage
To help the diagnose and treat of user's state of an illness in journal file in 210.In some embodiments, from the anti-of the IMU240 that trembles
Feedforward information can also be used for feedback stability, although carrying out the feedback information of self-level(l)ing IMU230 fully and being even preferred for user's auxiliary
The automatic leveling of device 100 and stable the two.
In the illustrated embodiment, the functional component of circuit system 200 can be powered by power supply 225.In one embodiment,
Power supply 225 is the rechargeable battery (such as lithium ion battery) being arranged in the handle 120 of handheld tool 100.Circuit system
200 a lot of other functional components may also be arranged in handle 120 to provide compact, user-friendly form factor.For example,
In various embodiments, motion control system 205, system storage 210, system controller 215, communication interface 220, power supply
Some or all of the 225 and IMU240 that trembles are arranged in handle 120.As shown in figs. 1A-d, actuator 125 and connecting portion
135 are at least partially disposed in handle 120.
Fig. 3 is the functional structure chart according to embodiments herein, shows the functional component of motion control system 300, should
Motion control system is used to provide automatic leveling to user's auxiliary device 105 of handheld tool 100.Motion control system 300 is
One possible realization method of motion control system 150 or 205.Motion control system 300 can be realized as software logic/instruction,
It is hardware logic for firmware logic/instruction, or combination.In one embodiment, motion control system 300 is DSP circuit.
Embodiment shown in this of motion control system 300 includes rotating vector module 305, low-pass filter (" LPF ")
310th, compensating filter module 315, assessment vector module 320, counter motion module 325 and movement controller 330.Action
Control module 300 is coupled to receive the feedback data for coming self-level(l)ing IMU335 and position sensor 340.Leveling IMU335 is shown
Embodiment include gyroscope 345 and accelerometer 350.
During operation, 345 output gyroscope data Δ G of gyroscope and the output of accelerometer 350 accelerates data Δ A.Top
Spiral shell instrument data Δ G is used with the error vector Sn-1 before adjusting by rotating vector module 305 to generate error current vector S n.
Then error current vector S n is supplied to compensating filter module 315.Compensating filter module 315 uses accelerometer data Δ
The low-pass filtered version Δ of A, A adjust error current vector to generate error vector S, n after adjusting.Adjusting error vector S,
N is transmitted back to assessment vector module 320, its locking or temporarily rotating vector module 305 is stored and provided at this, as before
Error vector Sn-1, for the subsequent cycle of operation.
The error vector S, n of the adjusting represent referential (such as gravitational vectors) and represent user's auxiliary device 105 currently
Difference vector between the vector of position.For example, the vector for representing 105 current location of user's auxiliary device can be self-level(l)ing IMU145
The normal vector of surface extension being disposed thereon.Certainly, other arrows for describing user's auxiliary device 105 can be used
Measure direction.
Gyroscope 345 is fast operating sensor, quick Output speed data, but drifted about by with the time.
On the contrary, accelerometer 350 is slow sensors, accurate reading is exported, which is used to update by compensating filter 315
Current error vector Sn simultaneously eliminates all drifts.Accelerometer data Δ A low-pass filtering is to remove since unexpected spasm causes
High frequency change, such as action of trembling, high frequency change is useless to low frequency automatic flat-adjustable function.
Then the error vector S, n of the adjusting are supplied to counter motion module 325.Counter motion module 325 obtains the tune
The error vector S, n of section and the current location information of actuator 115 simultaneously generate the position ginseng for limiting actuator 125 and 130
Several error signal (such as pitch error and overturning error), to obtain the desired position of user's auxiliary device 105.Power
The use of equation is known in robot control system.
Then error signal is input in movement controller 330, determines how implementation for controlling actuator 115
Practical instruction (such as pitch demand and overturning instruction).In one embodiment, movement controller 330 is embodied as comparing
Example-Integrated Derivative (" PID ") controller.Movement controller 330 attempt reduce error signal (such as pitch error and overturning miss
Difference), while also reduce and correct overshoot and oscillation.
In the illustrated embodiment, motion control system 300 is further included for the high-frequency path of accelerometer data Δ A
360 to reach movement controller 330.High-frequency path 360 allows unfiltered high frequency accelerometer data Δ A by movement controller
330 analyze to implement the stability contorting that trembles.
Some function logic/softwares explained above are according to computer software and hardware description.The technology of description may make up
The machine-executable instruction implemented in tangible or non-transient machine (such as computer) readable storage medium storing program for executing is worked as and is held by machine
The operation that machine will be promoted to implement description during row.In addition, the process can be implemented in hardware, such as application-specific integrated circuit
(" ASIC ") or other.
Tangible machine readable storage medium storing program for executing includes arbitrary mechanism, and (such as storage) machine (example is provided in the form of non-transient
Such as computer, internet apparatus, personal digital assistant, manufacture tool, have one or more processors any device,
Deng) accessible information.For example, machine readable storage medium includes recordable/non-recordable medium (such as read-only memory
(ROM), random access memory (RAM), magnetic disk storage medium, optical storage medium, flash memory, etc.).
Above-mentioned description of illustrated embodiments of the invention is included in those described in abstract, is not used in exhaustive or incite somebody to action this
Invention is limited in the precise forms of description.Although be described herein the particular embodiment of the present invention for illustrative purposes with
And example, as those skilled in the art will appreciate that, within the scope of the present invention can there are many improve.
These improvement can make the present invention according to above-mentioned detail specifications.The term used in claim below should not
It is construed to limit the invention to the specific embodiment disclosed in this specification.On the contrary, the scope of the present invention is whole by following
Claim determines, is explained according to the claim canons of construction established.
Claims (21)
1. a kind of handheld tool, including：
For the handle kept by the user of handheld tool；
The linking arm extended from the handle, the linking arm are configured to connect to user's auxiliary device；
First Inertial Measurement Unit (" IMU ") is mounted in the installing arm to obtain the action of user's auxiliary device or take
To one or more measured values and generate represent the measured value feedback data；
Actuator is connected to manipulate user's auxiliary device at least two dimensions by the linking arm；And
Motion control system is coupled to receive the feedback data from the first IMU and is connected to carry to actuator
For instructing to provide user's auxiliary device in the user's operation handheld tool to the automatic leveling of referential.
2. handheld tool according to claim 1, wherein the actuator is connected to surround two relative to handle
A rotary shaft operates user's auxiliary device.
3. handheld tool according to claim 2, wherein the actuator includes：
First actuator controls the rotary movement of linking arm；And
Second actuator controls the pitching motion of linking arm.
4. handheld tool according to claim 3, wherein the actuator further comprises：
First connecting portion will be mechanically connected to the second actuator, wherein first from the output of the rotary movement of the first actuator
Actuator is connected to overturn the linking arm by overturning the second actuator via first connecting portion；And
Second connecting portion will be mechanically connected to linking arm from the output of the pitching motion of the second actuator.
5. handheld tool according to claim 3, further comprises：
First position sensor connects the first the first relative position exported to monitor the first actuator；And
Second position sensor connects the second the second relative position exported to monitor the second actuator,
Wherein the first and second position sensors connect location information feeding back to motion control system.
6. handheld tool according to claim 5, further comprises：
System controller, the system controller are arranged in handle and connect to collect position from the first and second position sensors
Simultaneously the location information is recorded in daily record for information；And
Communication interface, the communication interface are connected to system controller to export the daily record from handheld tool.
7. handheld tool according to claim 2, wherein motion control system are connected further to actuator to enclose
Around two rotary shaft operated actuator components with stabilization of trembling to user's auxiliary device offer mankind.
8. handheld tool according to claim 1, further comprises power supply, which connects into actuator and moves
Action control system is powered, and at least part of the wherein power supply, motion control system and actuator is arranged on handle
It is interior.
9. handheld tool according to claim 1, wherein user's auxiliary device are including in have a meal utensil or the utensil that drinks water
Any one.
10. handheld tool according to claim 1, wherein user's auxiliary device include instruction device, dresser, a
One in people's sanitary tool or professional tool.
11. handheld tool according to claim 1, further comprises：
2nd IMU, the 2nd IMU are rigidly connected on handle to be quivered with being kept in user and the mankind being measured during using the handheld tool
It trembles.
12. at least one machineaccessible storage medium provides instruction, when the instruction is performed by handheld tool, will promote
Handheld tool performs following operation, including：
Action or the orientation of user's auxiliary device mounted on handheld tool distal end are measured using Inertial Measurement Unit (" IMU ")
It is at least one；
Feedback data is exported from IMU based on the measurement；
The feedback data is monitored in real time using the motion control system being at least partially disposed in handheld tool handle；And
Actuator is controlled using motion control system, wherein actuator connection is at least two orthogonal dimensions
User's auxiliary device is manipulated when user manipulates handheld tool, to provide automatic leveling of user's auxiliary device to referential.
13. at least one machineaccessible storage medium according to claim 12, wherein at least two orthogonal dimensions
Including two rotary shafts, including pitch axis and torsion shaft.
14. at least one machineaccessible storage medium according to claim 13, wherein utilizing motion control system control
Actuator processed is included with providing automatic leveling：
Error vector is generated based on referential, represents position deviation of user's auxiliary device away from reference vector；
Based on the feedback data output update error vector from IMU；And
The error vector is at least partially based on, is generated around the pitch demand of pitch axis operated actuator component and around overturning
The overturning instruction of axis operated actuator component.
15. at least one machineaccessible storage medium according to claim 14, the wherein IMU include gyroscope and
Accelerometer, the wherein feedback data include gyroscope feedback data and accelerometer feedback data, and wherein utilize action
Control system control actuator is further comprised with providing automatic leveling：
The error vector is updated using gyroscope feedback data；And
Before the error vector is updated using accelerometer feedback data, the low-pass filtering accelerometer feedback data.
16. at least one machineaccessible storage medium according to claim 13, it is further provided instruction, when the instruction
When being performed by handheld tool, handheld tool will be promoted to perform further operation, including：
Actuator is controlled to tremble to provide the mankind of user's auxiliary device around two rotary shafts using motion control system
Stablize.
17. at least one machineaccessible storage medium according to claim 16, wherein being enclosed using motion control system
Actuator, which is controlled, around described two rotary shafts is trembled stable include with providing the mankind：
Use the accelerometer from the accelerometer output of IMU anti-in the case of no low-pass filtering accelerometer feedback data
Feedback data, which tremble to stablize for the mankind, provides feedback control.
18. at least one machineaccessible storage medium according to claim 13, it is further provided instruction, when the instruction
When being performed by handheld tool, the handheld tool will be promoted to perform further operation, including：
Location information is collected from one or more position sensors of connection to monitor actuator relative to this two rotations
The position of axis；
The location information is recorded into daily record；And
The daily record is output to except the handheld tool by communication interface.
19. at least one machineaccessible storage medium according to claim 12, it is further provided instruction, when the instruction
When being performed by handheld tool, handheld tool will be promoted to perform further operation, including：
With the self-leveling amount for user's auxiliary device that time adjustment is provided by actuator, as drill program or control
A part for treatment plan is used to treat user.
20. at least one machineaccessible storage medium according to claim 19, wherein provided by actuator
Self-leveling amount reduces with the time, the part as treatment plan.
21. at least one machineaccessible storage medium according to claim 12, wherein power supply are arranged on the hand-held work
In the handle of tool and connect with to actuator and motion control system power supply and wherein user's auxiliary device includes eating
Any one in meal utensil or cup retainer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611272927.6A CN108201477B (en) | 2016-12-16 | 2016-12-16 | Hand-held tool for leveling uncoordinated actions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611272927.6A CN108201477B (en) | 2016-12-16 | 2016-12-16 | Hand-held tool for leveling uncoordinated actions |
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| CN108201477A true CN108201477A (en) | 2018-06-26 |
| CN108201477B CN108201477B (en) | 2020-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611272927.6A Active CN108201477B (en) | 2016-12-16 | 2016-12-16 | Hand-held tool for leveling uncoordinated actions |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278440A (en) * | 2018-09-25 | 2019-01-29 | 绵阳鼎飞益电子科技有限公司 | A kind of system write for parkinsonism patient |
| WO2021101486A1 (en) * | 2019-11-19 | 2021-05-27 | Istanbul Medipol Universitesi | Cup for tremor patients |
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| CN109278440B (en) * | 2018-09-25 | 2020-06-02 | 绵阳鼎飞益电子科技有限公司 | System for be used for parkinson syndrome patient to write |
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| US11678754B2 (en) | 2019-11-19 | 2023-06-20 | Istanbul Medipol Universitesi | Cup for tremor patients |
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