The present invention relates to a robotic overhead support system, particularly but not necessarily exclusively, for providing assistance to less-able-bodied individuals for independent living. The invention further relates to a robotic support device actuation assembly for use as part of a robotic overhead support system.

People living with mid, moderate or severe physical impairments will require some assistance in order to live independently. The principal difficulties which must be overcome include: reduced upper limb strength and co-ordination, making it difficult to fetch and carry objects; and reduced lower limb strength making it difficult for the person to get out of a chair, move around, stand unsupported while dressing or going to the toilet, and transferring from a bed to a chair or onto a toilet, for instance.

Many overhead support systems are known which provide assistance to less-able-bodied individuals, and typically comprise an overhead gantry to which is attached a hanging frame via which assistance equipment can be attached. The hanging frame is mounted via a strengthened fabric strip which depends from a trolley on the gantry. Typical assistance equipment may include handle bars to provide a user with a walking aid around the location, all the way up to a full-body sling for transferring individuals with severe impairments around the location.

The fabric strip provides a simple mechanism by which z-axis, that is in-use vertical, actuations relative to the user. The fabric strip can simply be reeled or unfurled using a motor to alter the height of the assistance equipment.

The problem with such arrangements is that, although they are relatively mechanically simple and cost-effective, the fabric strips are prone to swinging in-use, which can be nauseating or unbalancing to the user, and therefore force sensors cannot be readily incorporated into their housings to provide smart control of the assistance equipment. Fixed connectors to the gantry have the problem of being immovable along the z-axis.

The present invention seeks to provide a more structurally sound overhead support system which is capable of movement along the in-use vertical axis, thereby permitting smart control features to be incorporated therein, improving the assistance provided to the user.

According to a first aspect of the invention, there is provided a robotic overhead support system for providing assistance to a less-able-bodied user, the robotic overhead support system comprising: an overhead gantry mounted in a horizontal plane; and a robotic support device engaged with the overhead gantry, the robotic support device comprising: vertical drive means for providing drive to the robotic support device in an in-use vertical axis; a drive output element drivably engaged with the vertical drive means so as to be extendible and retractable along the vertical axis; a user-interaction support element coupled to an end of the drive output element which is distal to the vertical drive means; and an extendible coupling which is at least in part rigid in a plane perpendicular to the vertical axis, a first end of the extendible coupling being fixed relative to the vertical drive means, and a second end of the extendible coupling being fixed relative to the end of the drive output element.

The provision of a drive output element which has an associated coupling which can be extended or retracted therewith, the extendible coupling being rigid or substantially rigid in the lateral direction, allows for a more robust robotic support device to be constructed. This eliminates the need for a flexible fabric hoist mechanism, providing more stability for operations involving hoisting the user and/or retrieving objects for the user.

Preferably, the drive output element may be rigid in the plane perpendicular to the vertical axis in at least an extended condition thereof. More preferably, the drive output element may comprise a bi stable reeled composite material and/or storable tubular extendible member, in which case, a connector element may be provided having an at least in part arcuate engagement member which is engagable with the bi-stable reeled composite material and/or storable tubular extendible member, the connector element being connectable to the user-interaction support element.

The use of a rigid or rigidified drive output element, such as a bi-stable reeled composite material and/or storable tubular extendible member, improves the stability of the robotic support device. Not only will the extendible coupling provide structural strength, but the drive output element can serve to limit the transfer of vibrations or swinging motions to the user-interaction support element.

Optionally, the extendible coupling may comprise a plurality of rigid connector members, neighbouring rigid connectors being interengaged at articulated joints. Each said rigid connector member may be formed as an arcuate member.

Rigid and pivotable connector members provide a straightforward mechanism by which rigidity can be conferred whilst also providing the necessary extendibility of the coupling in-use.

The plurality of rigid connector members may be arranged into a plurality of collapsible stages, each stage preferably having two opposed rigid connector members, in which case, the two said opposed rigid connector members of each stage may be staggered with respect to one another along the in-use vertical axis.

A staged coupling arrangement is readily upgradeable to meet the requirements of the robotic overhead support system. To increase the total z-axis displacement possible, more stages can be added, for example.

Preferably, the drive output element may be at least in part receivable within the extendible coupling.

Housing the drive output element within the extendible coupling can improve the isolation of the drive output element from external vibrations, resulting in a smoother operation of the user- interaction support element. The robotic support device may further comprise at least one extendible stiffener receivable around the extendible coupling, the or each extendible stiffener being movable synchronously with the extendible coupling. The or each extendible stiffener may comprise a plurality of rigid connector members, neighbouring rigid connectors being interengaged at articulated joints.

Further concentric arrangements of rigidifying couplings can serve to further improve the stability of the platform, which may be important in scenarios in which very significant loads are to be lifted, such as for bariatric patients.

In one alternative embodiment, the extendible coupling may comprise a plurality of telescoping members.

Alternative arrangements of extendible couplings may be simpler and more cost-effective to manufacture than the above-described staged coupling arrangement.

The robotic overhead support system may further comprise a vertical force sensor arranged to determine a load applied to the robotic support device in the vertical axis.

Providing sufficient structural stability of the robotic support device to incorporate a vertical force sensor permits a controller thereof the ability to determine in advance whether said load can be safely borne, thereby averting overloading accidents.

Additionally, or alternatively, the robotic overhead support system may further comprise at least one lateral force sensor arranged to determine a load applied to the robotic support device in at least one direction lateral to the vertical axis. By contrast, the provision of a lateral force sensor may be more effective in assisting the positioning of the user- interaction support element, for example, when picking up objects, when there is a load on the robotic support device in the lateral direction. This improves the accuracy of the actions of the user-interaction support element.

Preferably, the overhead gantry may comprise a track along which the robotic support device is actuatable, and a horizontal drive means to provide a driving force along the track to the robotic support device.

Whilst the present invention is primarily directed towards the provision of z-axis control of the robotic support device, it will be appreciated that in most contexts, x- and y-axis control is also important, particularly for the moving of a user between locations.

A sensing device which is adapted to determine a position and/or condition of a user may be provided, and a controller communicatively coupled with the sensing device, horizontal drive means, and vertical drive means for controlling the robotic support device with respect to the user.

Automatic sensing and of the user by the robotic support device can significantly improve the utility of the system. The determination of the needs of the user, based upon their position and/or condition can inform the actions required to be taken by the robotic support device, which can act accordingly.

Optionally, the user-interaction support element may comprise at least one user support handle adapted to assist the user to stand from a seated position. Furthermore, the user-interaction support element may comprise a user support frame and two said user support handles which are engaged with pivotable support devices of the user support frame. The or each user support handle may also include a grip sensor, the vertical drive means being activatable upon sensing of a user grip at the grip sensor. Additionally, a rear support member may be included to provide rear support to the user to assist the user to stand from the seated position.

In an alternative embodiment, the user-interaction support element may comprise a mechanical gripper adapted to grip and/or release objects for the user.

There are several existing uses of overhead support systems which could be improved by the present arrangement. For sit-to-stand supports, the additional stability provided by the robotic support device may provide independence for individuals with more severe physical impairments, whilst the improved accuracy of the robotic support device may serve to improve grabbing-type operations. In a preferred embodiment, the user-interaction support element may be releasably coupled to the end of the drive output element. The robotic support device may further comprise a support-element identifier arranged to identify a user-interaction support element engaged therewith, an operation of the robotic support device being determined based on an output of the support-element identifier. By modularising the various components of the robotic support device, different user-interaction support elements may be selectively engaged with the actuation assembly, improving the versatility of the system. If the user-interaction support element can be accurately identified by the robotic support device, an operation thereof can also be automated.

According to a second aspect of the invention, there is provided a robotic support device actuation assembly comprising: vertical drive means for providing drive in an in-use vertical axis; a drive output element drivably engaged with the vertical drive means so as to be extendible and retractable in the vertical axis, an end of the drive output element which is distal to the vertical drive means being connectable to a user-interaction element of a robotic support device; and an extendible coupling which is at least in part rigid in a plane perpendicular to the vertical axis, a first end of the extendible coupling being fixed relative to the vertical drive means, and a second end of the extendible coupling being fixed relative to the end of the drive output element.

The present actuation assembly significantly improves the stability of a robotic support device to which it is attached.

The invention will now be more particularly described, by way of example only, with reference to the accompanying drawings, in which:

Figure la shows a perspective representation from below of a first embodiment of a robotic overhead support system in accordance with the first aspect of the invention;

Figure lb shows a front representation of the robotic overhead support system of Figure la;

Figure lc shows a side representation of the robotic overhead support system of Figure la; Figure 2a shows a perspective representation from above of the actuation assembly of the robotic support system of Figure la, shown in an extended condition;

Figure 2b shows a front representation of the actuation assembly of Figure 2a;

Figure 2c shows a side representation of the actuation assembly of Figure 2a; Figure 3 a shows a perspective representation from above of the actuation assembly of Figure 2a, shown in a retracted condition;

Figure 3b shows a side representation of the actuation assembly of Figure 3 a;

Figure 4a shows a front perspective representation of a vertical drive assembly of the actuation assembly of Figure 2a;

Figure 4b shows a rear perspective representation of the vertical drive assembly of Figure 4a;

Figure 4c shows a side representation of the vertical drive assembly of Figure 4a;

Figure 4d shows a rear representation of the vertical drive assembly of Figure 4a;

Figure 5 a shows a perspective representation of an extendible coupling of the actuation assembly of Figure 2a;

Figure 5b shows a front representation of the extendible coupling of Figure 5a;

Figure 5c shows a side representation of the extendible coupling of Figure 5a;

Figure 6 shows a perspective representation of the extendible coupling of Figure 5a, inclusive of an extendible stiffener; Figure 7 shows a perspective representation of a second embodiment of an extendible coupling for use with a robotic overhead support system in accordance with the first aspect of the invention;

Figure 8 shows a perspective representation of a second embodiment of a robotic overhead support system in accordance with the first aspect of the invention; Figure 9 shows a perspective representation of a third embodiment of a robotic overhead support system in accordance with the first aspect of the invention;

Figure lOa shows a perspective representation of a fourth embodiment of a robotic overhead support system in accordance with the first aspect of the invention, the robotic overhead support system being in a first seated-user-engagement condition; Figure lOb shows a perspective representation of the robotic overhead support system of Figure lOa, the robotic overhead support system being in a second seated-user-engagement condition;

Figure lOc shows a perspective representation of the robotic overhead support system of Figure lOa, the robotic overhead support system being in a user-lift condition; and

Figure lOd shows a perspective representation of the robotic overhead support system of Figure lOa, the robotic overhead support system being in a standing-user release condition.

Referring to Figures la to lc, there is indicated a robotic overhead support system, referenced globally at 10, which includes a robotic support device 12, preferably formed as a robotic arm, and more preferably as an articulated robotic arm, and which is suitable for providing assistance to less- able-bodied individuals, in particular, in the contexts of assisting with sit-to-stand motions, and/or serving to carry items to and from the user.

The robotic support device 12 is configured to be utilised with an overhead gantry 14 as part of the robotic overhead support system 10 to permit movement in a horizontal plane, and comprising a movable trolley 16 which is movable along the overhead gantry 14, a main device body 18 which is movable along a z-axis, that is, an in-use vertical axis of the robotic support device 12, and a user- interaction support element 20 via which user interactions can be effected.

The overhead gantry 14 is preferably provided having at least one track 22 which is mounted in the horizontal plane, with the movable trolley 16 being mounted to a cross-rail 24 which is itself movable along the or each track 22. Such an arrangement may allow for full movement of the moveable trolley 16 in x- and y-axes contained within the horizontal plane. The moveable trolley 16 may be provided with horizontal drive means, typically in the form of an electric motor, such as a belt driven motor arrangement, to provide driving force along the track 22, thereby allowing movement of the robotic support device 12.

It will be apparent that the term horizontal plane is used loosely here, and that certain gantry configurations may contain track portions which extend in the vertical axis, to circumvent obstacles such as door frames, and/or the overhead gantry 14 may not be mounted to a perfectly horizontal support.

The user-interaction support element 20 is here illustrated as a mechanical gripper adapted to grip and/or release objects for the user, and has a pair of gripping jaws 26 which can grasp objects for the user. Further motor functionality may be provided as part of the user-interaction support element 20 to provide fine positional control, for instance. The mechanical gripper is indicated for illustrative purposes only; the form of the user-interaction support element 20 will be dependent upon the desired function of the robotic overhead support system 10. It is preferred that the user- interaction support element 20 is releasably engagable with the main device body 18, thereby achieving modularisation of the robotic support device 12. This allows the user to freely interchange the user- interaction support element 20 as required for a particular operation.

The main device body 18 comprises an actuation assembly 28 formed to allow movement in the z- axis. No outer casing or housing of the robotic support device 12 is illustrated in order to demonstrate the actuation assembly 28; however, it will be appreciated that a flexible or otherwise moveable outer covering could readily be provided around the actuation assembly 28. Figures 2a to 2c show the actuation assembly in an extended condition.

The actuation assembly 28 comprises a vertical drive means, preferably formed as vertical drive assembly 30 comprising a motor 32 such as an electric motor, and which has an output which can effect a motion along a linear axis, which in this instance, will be the in-use vertical axis. The output of the motor 32 is coupled to a drive output element 34 which is extendible and retractable along the in-use vertical axis. An extendible coupling 36 is also provided as part of the actuation assembly 28, and provides an extendible rigid frame for the robotic support device 12.

The actuation assembly 28 is retractable, being able to collapse into a retracted condition. Such a condition is shown in Figures 3a and 3b. The actuation assembly 28 can be extended or retracted to any possible intermediate extension to alter a vertical extension of the robotic support device 12 in- use.

The detail of the vertical drive assembly 30 can be seen in Figures 4a to 4d. The drive output element 34 may be provided as any appropriate element which can be extended, unfurled, or projected along the in-use vertical axis. Whilst this could be provided as a flexible fabric strip, as is the case in existing invalid sling hoist arrangements, it is preferred that the drive output element 34 be rigid in at least its extended condition. In the present embodiment, the drive output element 34 is provided as a bi-stable reeled composite (BRC) material and/or storable tubular extendible member (STEM). Such materials as stable in both an unfurled, extended condition, forming an arc or hemi-cylinder in a direction perpendicular to a main axial extent of the material, and also in a furled, retracted condition, in which the axial extent of the material is reeled about an orthogonal axis. At a distal end, relative to the motor 32, of the drive output element 34, there may be provided a connector element 38 via which the user- interaction support element 20 may be connected to the actuation assembly 28. It will, of course, be appreciated that such a connector element 38 could be formed as part of the user-interaction support element 20. However, in the present arrangement, the connector element 38 includes an at least in part arcuate spigot 40 which is engageable with the end of the drive output element 34, which is suitable for connection to the arcuate portion of a BRC or STEM component of the drive output element 34 in the extended condition. Other at least in part arcuate members, such as recesses or slots, could be considered in lieu of a spigot.

The connector element 38 is preferably a universal connector, that is, able to connect with any appropriate user-interaction support element 20 which might be usable as part of the robotic overhead support system 10. The connector element 38 may be provided with a support-element identifier which is able to determine a user-interaction support element 20 which is connected thereto, and feed this information back to a controller of the robotic overhead support system 10. This enables autonomous operation of the robotic support device 12 based on the user- interaction support element 20 which is attached thereto. It will be apparent that the significant requirement of the support-element identifier is that the user-interaction support element 20; as such, the support- element identifier may be positioned elsewhere on the robotic support device 12, other than at the connector element 38.

The vertical drive assembly 30 may comprise a reel 42 which is engaged with the motor 32 to permit reeling and unspooling of the drive output element 34, and the reel 42 may have a dedicated housing 44 which can be coupled to the movable trolley 16 of the robotic support device 12.

The reel housing 44 is able to house the BRC or STEM component of the drive output element 34 in its stable retracted condition, having an aperture 46 at a vertically lowermost end through which the extended drive output element 34 can project. As can be seen in Figures 4c and 4d in particular, the BRC or STEM component curves or arcs on extension, thus adopting its rigid stable extended configuration. This results in the arcuate distal end 48 thereof, which is engagable with the at least in part arcuate spigot 40. A further clamp 50 is also illustrated as part of the connector element 38 which may serve to secure the arcuate distal end 48 of the drive output element 34 against the spigot 40. Here, a screw-threaded fastener 52 is provided to hold the clamp 50 in position.

The motor 32 is preferably laterally offset and positioned exterior to the reel housing 44, thereby permitting easy access to the motor 32 in the event of failure or a repair condition. The extendible coupling 36 is provided to act to rigidify the actuation assembly 28 in a lateral direction with respect to the in-use vertical axis. Here, this is provided as a plurality of rigid connector members 54 which surround the vertical drive assembly 30. Each rigid connector member 54 may be preferably provided as an arcuate connector, most preferably formed in the shape of a semicircle. Figures 5a to 5c show the extendible coupling 36 in detail. The rigid connector members 54 could, for instance, be formed from metal such as steel, or from durable plastics materials. The rigid connector members could be hollow to reduce the weight of the robotic support device 12 without significantly and deleteriously affecting the integrity of the extendible coupling 36.

Neighbouring rigid connector members 54 may preferably be interengaged at articulated joints 56, as indicated in Figure 5a. The articulated joints 56 preferably permit pivotable actuation of the neighbouring rigid connector members 54, though other joints, such as ball and socket joints or hinges could alternatively be considered.

The articulated joints 56 may be provided having a central body element 58 having at least one connector-engaging socket 60 positioned on each side of the central body element 58. Only one connector-engaging socket 60 is required at the articulated joints 56 at the end of the extendible coupling 36; however, intermediate articulated joints 56 will have more than one connector-engaging socket 60 on each side of the central body element 58.

The plurality of rigid connector members 54 are preferably arranged into a plurality of collapsible stages, each stage preferably having two opposed rigid connector members 54. The staging of the rigid connector members 54 allows for modularisation of the extendible coupling 36, which can therefore be extended as necessary in line with the extension requirements of the particular robotic overhead support system 10.

The two opposed rigid connector members 54 of each stage are preferably vertically staggered with respect to one another. This effectively forms a parallel bar mechanism for the extendible coupling 36, significantly improving the lateral rigidity thereof compared with a non-staggered arrangement.

On a lowermost articulated joint 56, there is provided a drive connector, here formed as an elongate engagement device 62 which is engagable with the drive output element 34, here by connection to the screw-threaded fastener 52. Other suitable connection mechanisms, such as clamps, snap-fit engagement elements, or permanent connection to the connector element 38, for instance, could be considered. The elongate engagement device 62 couples the lowermost stage of the extendible coupling 36 to the distalmost end of the drive output element 34, ensuring that they move in tandem. Whilst the extendible coupling 36 is shown being positioned to as to be receivable around the vertical drive assembly 30, it will be appreciated that the extendible coupling 36 could be formed so as to only partially enclose the vertical drive assembly 30, without significantly adversely affecting the rigidity of the robotic support device 12. Alternatively, the vertical drive assembly 30 could potentially be positioned external to the extendible coupling 36, if sufficient rigidity were achieved by the positioning of the extendible coupling 36.

To alter a z-axis extension of the actuation assembly 28, and in turn the user-interaction support element 20, with respect to the overhead gantry 14, the vertical drive means is activated.

In a retracted condition of the actuation assembly 28, as shown in Figures 3 a and 3b, the drive output element 34 is in a retracted condition, contained on the reel 42, and the extendible coupling 36 is also in a retracted condition, with the stages of the rigid connector members 54 being collapsed against one another.

Upon activation of the motor 32, the drive output element 34 is unfurled, and is preferably rigid and stable in a semi-extended or extended condition as the drive output element 34 extends. This urges the distalmost end of the drive output element 34 away from the motor 32 and reel housing 44. Since the lowermost end of the extendible coupling 36 is connected to the connector element 38 of the drive output element 34 via the elongate engagement device 62, drive is imparted to the lowermost end of the extendible coupling 36. In turn, the extendible coupling 36 is extended towards its extended condition in tandem with the drive output element 34.

Throughout this process, the rigidity of the robotic support device 12 is maintained, limiting the effect of lateral forces on the robotic support device 12. There is therefore no risk of the robotic support device 12 swinging freely in a similar manner to an invalid hoist.

The structural rigidity afforded to the robotic support device 12 may permit the inclusion of vertical and/or lateral force sensors within the robotic support device 12, respectively arranged to determine a vertical and lateral force on the robotic support device 12. Such an arrangement may allow a controller of the robotic support device 12 to detect overloading conditions, and adjust the position and/or alignment of the user-interaction support element accordingly.

It will also be apparent that concentric extendible couplings could be provided to further improve the rigidity of the robotic support device 12. Additional extendible couplings could therefore be considered to be extendible stiffeners which are synchronously moveable with the extendible coupling 36, and may or may not have a similar or identical construction to the extendible coupling 36 enclosed therein.

One exemplary extendible stiffener 63 is illustrated in Figure 6, which is provided as a linkage which is engagable between adjacent stages of rigid connector members 54. In the depicted embodiment, the extendible stiffener is provided as a pair of linked levers 63a, 63b, which are pivotable relative to one another synchronously with the extension and retraction of the extendible coupling 36.

Other possible arrangements of extendible stiffener could be considered, such as scissor lifting arrangements, or hinged joints, and a plurality of the same or different extendible stiffeners could be provided. An alternative embodiment of an extendible coupling 36’ is illustrated in Figure 7, which creates a helical arrangement. In the illustrated arrangement, a double helix of rigid connector members 54’, 54” is provided, which can significantly improve the lateral stability of the extendible coupling 36’. Pairs of rigid connector members 54’, 54” are vertically stacked in individual stages on alternating sides of the articulated joints 56’ to which they are connected. The main structural support could be provided by larger rigid connector members 54’, which are more resilient to deformation and/or lateral stresses, with additional stiffening being provided by supplementary rigid connectors 54”, which may preferably have a smaller width.

It may also be possible to change the size of the rigid connector members 54’, 54” along the z-axis of the extendible coupling 36’; for instance, the size of the larger rigid connector members 54’ may decrease towards the lowermost end of the extendible coupling 36’ to reduce an overall weight of the extendible coupling 36’.

Alternative staging configurations could, however, be considered, such as a single helical arrangement in which only one rigid connector member 54’ were provided as part of each stage, the rigid connector members 54’ being alternately positioned on either side of the extendible coupling 36’.

A second embodiment of a robotic overhead support system is indicated globally at 110 in Figure 8, showing a possible use of the robotic device 112. Identical or similar components to those described in respect of the first embodiment of the invention will be described using identical or similar reference numerals, and further detailed description will be omitted for brevity. The user- interaction support element 120 is here provided as a mechanical grabber, which is adapted for grasping items on behalf of the user 164. The user-interaction support element 120 may be articulated, for instance, in a similar manner to that of a human device, so as to permit fine motor control below the level of the actuation assembly 128, shown in dashed lines, and which is here provided with an outer covering 166.

Such an arrangement may be suitable for providing assistance to infirm or less-mobile users 164, for instance, by preparing and bringing meals to them, as indicated. The robotic support device 112 could be used to fetch and carry items around a living space using a set of bespoke user-interaction support elements 120, working in conjunction with an object detection and localisation system. This might advantageously comprise one or more sensors, such as optical or motion sensors, to determine the locations of the relevant objects. Again, vertical force sensors could be utilised to detect a safe load on the vertical drive means to ensure that safe limits are not exceeded during operation.

Within the care context, other bespoke user-interaction support elements 120 could be considered, such as a cleaning, dusting or cooking modules. Such an arrangement could be feasibly achieved through tele-operation by the user or a remote operator, or autonomous functionality could be considered, utilising input from one or more sensors onboard or external to the robotic support device 112

The user- interaction support elements 120 could therefore be interchangeable, and this could be performed automatically by the robotic overhead support system 110, depending on various characteristic variables. For instance, the robotic overhead support system 110 could sense and anticipate a user’s upcoming needs, based on sensor information retrieved relating to the user 164. Alternatively, the user 164 could provide command inputs which alter the user- interaction support elements 120 based on a desired function.

The robotic overhead support system 110 could therefore be useful in contexts other than for the provision of care for users 164, but could also be considered in other scenarios in which automated assistance may be required. In particular, this will be of use in contexts where repeated retrieval of useful objects is required, such as factory settings, where automatic z-axis control is critical.

A third embodiment of a robotic overhead support system is indicated globally at 210 in Figure 9, showing an alternative use of the robotic support device 212. Identical or similar components to those described in respect of the first and second embodiments of the invention will be described using identical or similar reference numerals, and further detailed description will be omitted for brevity.

Here, the user-interaction support element 220 is provided as a user support frame 268 having at least one, and preferably two, fixed user support handles 270 adapted to assist the user 264 to stand from a seated position. The user support frame 268 can be provided so as to be positionable around the user by the robotic support device 212, allowing the user 264 to grasp the user support handles 270. Activation of the actuation assembly 228 can then raise the user 264 to a standing position, at which point, the user 264 may be able to walk unaided, or the user 264 could alternatively attempt to walk with the assistance of the robotic support device 212.

The robotic support device 212 may be provided with a sensing device adapted to determine a position and/or condition of a user, and a controller communicatively coupled with the sensing device. The sensing device may preferably be a position sensor, such as a motion or infra-red sensor, and is able to determine the required movements of the robotic support device 212. The controller may be further communicatively coupled with the vertical and/or horizontal drive means of the robotic support device 212, controlling the movement of the robotic support device 212 as necessary.

Furthermore, the robotic overhead support system 210 may further comprises an audible output which is able to provide instructions to the user 264, for instance, providing an indication of a position of the user-interaction support element 220 and/or expected further actions to be performed by the user 264.

For sit-to-stand assistance, the force applied to the vertical drive means, which may be determined by a vertical force sensor can be sensed and used to determine a degree of powered assistance to provide to the user support frame 270 to assist the user 264 in moving from a seated position to a standing position.

An integrated sensing module can therefore monitor the movement and automatically adjust the x-, y- and z-axis position and velocity based on the user’s optimal trajectory and intention. This may be determined from a learnt model of the user. It may be that additional motors or similar drive means are required as part of the user-interaction support element 220 in order to effect the necessary adjustment of the robotic support device 212 to compensate for the user’s trajectory.

A fourth embodiment of a robotic overhead support system is indicated globally at 310 in Figures lOa to lOd, showing a sit-to-stand support arrangement of the robotic support device 312. Identical or similar components to those described in respect of the first to third embodiments of the invention will be described using identical or similar reference numerals, and further detailed description will be omitted for brevity.

Here, the user-interaction support element 320 again includes a user support frame 368 having a pair of user support handles 370; however, in the present arrangement, user support handles 370 are mounted on pivotable support devices 372 of the user support frame 368. This allows the support devices 372 to be pivoted into and out of position during the sit-to-stand process. The pivotable support devices 372 may be pivotable as a whole with respect to the robotic support device 312, and/or may be pivotable with respect to frame portions 374 of the user support frame 368.

Furthermore, the user support frame 368 may further comprise a rear support member 376 which is positionable behind the user 364 to provide rear support during the sit-to-stand process. The rear support member 376 may be vertically actuatable into and out of position with respect to the user 364 as required.

Figure lOa shows the user 364 in a seated position, with the user support frame 368 positioned around the user’s chair 378, allowing the user 364 to grasp the user support handles 370. A controller of the robotic support device 312 may be provided which is responsive to voice commands, as illustrated, though other methods of activation could be considered. A physically actuatable button or lever could be provided, allowing the user 364 to initiate a lifting sequence, or a grip sensor could be provided in or at the user support handles 370. Other user position sensors could be utilised for determining whether a user 364 is in a correct position for lifting, such as optical, audio, or movement sensors.

Figure lOb shows the reconfiguration of the user support frame 368 so as to be suitable to provide lifting support to the user 364. The frame portions 374 are pivoted such that the support devices 372 he largely underneath the user’s forearms, providing a more stable surface from which to attempt to stand. Furthermore, the rear support member 376 has been moved into position, preferably automatically so, behind the user to further assist with elevation into a standing condition. The standing action of the user 364 can be seen in Figure lOc in more detail, as the user 364 lunges forwards from the chair, and into the standing position of Figure lOd.

Once the user 364 has attained a standing condition, the support devices 372 can be pivoted out of the way so that they may take unaided steps. Alternatively, the robotic support device 312 could move with the user 364, if unaided walking is not possible due to lack of lower limb strength. As with the previous embodiment, it will be appreciated that trajectory anticipation by the controller of the robotic overhead support system 310 may improve the assistance provided to the user 364 by the robotic support device 312.

It will be appreciated that any or all of the robotic overhead support systems could be manually controlled by a user, for example, via remote control, keyboard, touchscreen or voice interface, or the robotic support devices could be at least in part autonomous utilising sensing modules to operate independently. Furthermore, whilst various examples of user-interaction support elements are provided, it will be appreciated that many other lifting or hoisting arrangements could also be considered. For instance, a traditional sling or hoist could easily be mounted to the above-described actuation assembly.

It is therefore possible to provide a robotic overhead support system which has a robotic support device which is rigid in a horizontal direction, in-use, without compromising the ability to extend and/or retract the robotic support device in the vertical direction. This significantly improves the utility of user-interaction support elements which could be used with the system. The words ‘comprises/comprising’ and the words ‘having/including’ when used herein with reference to the present invention are used to specify the presence of stated features, integers, steps or components, but do not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.

It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination.

The embodiments described above are provided by way of examples only, and various other modifications will be apparent to persons skilled in the field without departing from the scope of the invention as defined herein.