Abstract: A healthcare facility transport device includes a base with wheels including a powered wheel, a carrying structure, first and second handles, first and second force sensors, and a control system comprising a system processor. The carrying structure is configured to carry at least one of healthcare supplies and a patient. The first and second force sensors are mounted proximate to the first and second handles, respectively, and are configured to output respective first and second force signals in response to sensing movement of the first and second handles, respectively. The control system is configured to determine a magnitude and direction of an updated velocity vector and operate the powered wheel with the updated velocity vector. In various cases the updated velocity vector is based on the force signal values, a first model, a current velocity, and/or a distance between the first and second handles.

Abstract: A transfer device, such as a patient transfer device, includes a device body, a transfer platform supported by the device body, a plurality of subsystems, a plurality of subsystem controllers, each configured to control operation of one of the plurality of subsystems, and a system processor in communication with the plurality of subsystem controllers. The transfer platform has at least one conveyor belt configured to move an object. Each subsystem is configured to implement a function of the transfer device. The system processor is configured to monitor and communicate with the plurality of subsystem controllers, receive operator inputs from a transfer device operator, make decisions about a transfer operation based on inputs received from a transfer device operator and/or inputs received from the plurality of subsystem controllers, and send commands to the plurality of subsystem controllers to accomplish various transfer operation routines.