Robotic Cane Devices Ota, Yasuhiro Ryumae, Masaru Sato, Keiichi Sano, Shin A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position. Sponsorship: Toyota Motor Engineering & Manufacturing North America, Inc. Sponsorship: Illinois Institute of Technology United States Patent 2013-04-26 2013-04-16 Patent application/pdf islandora:9863 8,418,705 http://hdl.handle.net/10560/3003 en CC0 1.0 Universal http://creativecommons.org/publicdomain/zero/1.0/ No Copyright - United States http://rightsstatements.org/page/NoC-US/1.0/ Open Access