creator Ota, Yasuhiro creator Ryumae, Masaru creator Sato, Keiichi creator 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. Submitted by Aric Ahrens (ahrens@iit.edu) on 2015-09-09T17:34:16Z No. of bitstreams: 2 license_rdf: 1089 bytes, checksum: 0a703d871bf062c5fdc7850b1496693b (MD5) 8925563.pdf: 145199 bytes, checksum: 6b94de6ac8e5c1d60874c8ceaf5679c1 (MD5) Made available in DSpace on 2015-09-09T17:34:17Z (GMT). No. of bitstreams: 2 license_rdf: 1089 bytes, checksum: 0a703d871bf062c5fdc7850b1496693b (MD5) 8925563.pdf: 145199 bytes, checksum: 6b94de6ac8e5c1d60874c8ceaf5679c1 (MD5) Previous issue date: 2015-01-06 Toyota Motor Engineering & Manufacturing North America, Inc. Illinois Institute of Technology 2015-01-07 2015-01-06 8,925,563 http://hdl.handle.net/10560/3536 en CC0 1.0 Universal http://creativecommons.org/publicdomain/zero/1.0/ United States Patent Patent reformatted digital application/pdf No Copyright - United States http://rightsstatements.org/page/NoC-US/1.0/ Open Access