Granted Patent B2

US 12,704,838 · App. 17/868,466 · Granted Aug 11, 2026

Inventors: Avigal Denise Segal (Evergreen, CO); Andrew Jacob Petruska (Golden, CO); Anne Katherine Silverman (Golden, CO)

Assignee: Colorado School of Mines

G05D1/0016G05D1/0033

Abstract

Claims (42)

1 . A device comprising:

a microcontroller;

an electronic transceiver;

a movement detector in communication with the microcontroller via the electronic transceiver; and

a robot, wherein the movement detector is configured to detect user motion and control the robot based on the motion, wherein the device is configured to be used for rehabilitation or diagnosis of a motor condition of the user, wherein the movement detector comprises at least one inertial measurement unit configured to assess the motor condition of the user.

2 . The device of claim 1 , wherein the movement detector comprises a wearable device.

3 . The device of claim 1 , wherein the movement detector is coupled to an intervention device.

4 . The device of claim 3 , wherein intervention device comprises a wobble board, the wobble board configured to receive the feet of the user thereupon and receive the motion based on a balance of the user.

5 . The device of claim 1 , wherein the robot comprises at least one of a tele-operated vehicle or an at least partially autonomous vehicle.

6 . The device of claim 5 , further comprising a course configured to receive the vehicle, wherein the control of the vehicle is configured to guide the vehicle through the course.

7 . A method of providing a rehabilitation or diagnosis for a user intervention, comprising:

obtaining a motion sensing device configured for manipulation by the user, wherein the motion sensing device is configured to assess a motor condition of the user;

creating, via one or more processing elements, a communication link between the motion sensing device and a robot; and

detecting, via the motion sensing device, a movement initiated by the user;

creating, via the one or more processing elements, a signal within the sensing device;

transmitting, via the one or more processing elements, the signal to the robot;

moving the robot based on the signal.

8 . The method of claim 7 , wherein the motion sensing device comprises a wearable device.

9 . The method of claim 7 , wherein the motion sensing device is coupled to an intervention device.

10 . The method of claim 9 , wherein the intervention device comprises a wobble board, the wobble board configured to receive the feet of the user thereupon and receive the motion based on a balance of the user.

11 . The method of claim 7 , wherein the robot comprises at least one of a tele-operated vehicle or an at least partially autonomous vehicle.

12 . The method of claim 7 , wherein the motion of the vehicle is configured to guide the vehicle through a course.

13 . The method of claim 7 , further comprising:

generating, via the motion sensing device, a signal operative to control the robot based on a user motion;

moving the robot in response to receiving the signal;

generates a visual feedback signal based on the motion of the robot; and

generating an updated signal, via the motion sensing device, based on an updated user motion and the visual feedback signal.

14 . A system;

a motion sensing device;

a robot; and

a central processing unit in electronic communication with at least one of the motion sensing device or the robot, wherein the system is configured to be used for rehabilitation or diagnosis of a motor condition of a user, wherein the movement detector comprises at least one inertial measurement unit configured to assess the motor condition of the user.

15 . The system of claim 14 , wherein:

the system comprises a closed loop control system;

the motion sensing device generates a signal operative to control the robot based on a user motion;

the robot moves in response to receiving the signal; and

the motion of the robot generates a visual feedback signal;

the motion sensing device generates an updated signal based on an updated user motion, the updated user motion based on the visual feedback signal.

16 . The system of claim 14 , wherein the motion sensing device comprises a wearable device.

17 . The system of claim 14 , wherein the motion sensing device is coupled to an intervention device.

18 . The system of claim 17 , wherein the intervention device comprises a wobble board, the wobble board configured to receive the feet of the user thereupon and receive the motion based on balance of the user.

19 . The system of claim 14 , wherein the robot comprises at least one of a tele-operated vehicle or an at least partially autonomous vehicle.

20 . The system of claim 14 , further comprising a course configured to receive the vehicle, wherein motion sensing device detects a user input and generates a signal configured to control of the vehicle to guide the vehicle through the course.

Assignments (1)

Continuity (2)

References Cited (86)