Abstract: This application relates generally to robotic control/navigation and is specifically directed to a Torso-dynamics Estimation System (TES) for estimating leaning and twisting torso motions of a seated user and using such estimation or measurement signals to control movement of physical or virtual robotic devices or avatars solely using the user's upper body motion. For example, these signals can be used in lean-to-steer scenarios where the seated user is a rider/driver in a personal mobility device (e.g., powered chair or scooter), vehicle (e.g., car or drone), industrial equipment (e.g., excavator), or humanoid robot/avatar that could be in the physical or virtual worlds. Thus, TES offers a hands-free human-robot interaction for controlling a mobile device.

Abstract: This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.

Abstract: This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.