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Title: US5971091: Transportation vehicles and methods
[ Derwent Title ]
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Country: US United States of America

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57 pages

 
Inventor: Kamen, Dean L.; Bedford, NH
Ambrogi, Robert R.; Manchester, NH
Duggan, Robert J.; Northwood, NH
Heinzmann, Richard Kurt; Francestown, NH
Key, Brian R.; Pelham, NH
Skoskiewicz, Andrzej; Manchester, NH
Kristal, Phyllis K.; Sunapee, NH

Assignee: DEKA Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
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Published / Filed: 1999-10-26 / 1995-02-03

Application Number: US1995000384705
IPC Code: Advanced: A61G 5/04; A61G 5/06; A61G 5/14; B62D 57/00; A61G 5/10; B60K 7/00;
Core: A61G 5/00; more...
IPC-7: B62D 61/12;

ECLA Code: A61G5/06A; A61G5/04; A61G5/06B2; A61G5/06D; A61G5/14; B62D57/00; L60K7/00; K61G5/10S10; K61G5/10S14;

U.S. Class: Current: 180/218; 180/006.5; 180/065.8; 180/907; 700/071; 701/124;
Original: 180/218; 180/006.5; 180/065.8; 180/907; 364/176; 701/124;

Field of Search: 180/7.1,8.1,8.2,8.3,8.6,65.8,907 280/5.2,5.28,5.3,5.32,DIG. 10 901/001 701/070,22,124

Priority Number:
1995-02-03  US1995000384705
1994-05-27  US1994000250693
1993-02-24  US1993000021789

Abstract:     There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subject. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the surface. Finally, the embodiment has a control loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module. The ground contacting module may be realized as a pair of ground-contacting members, laterally disposed with respect to one another. The ground-contacting members may be wheels. Alternatively, each ground-contacting member may include a duster of wheels. In another embodiment, each ground-contacting member includes a pair of axially adjacent and rotatably mounted arcuate element pairs. Related methods are also provided.

Attorney, Agent or Firm: Bromberg & Sunstein LLP ;

Primary / Asst. Examiners: Boehler, Anne Marie;

Maintenance Status: CC Certificate of Correction issued
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INPADOC Legal Status: Show legal status actions          Buy Now: Family Legal Status Report

       
Related Applications: Go to Result Set: 25 patent(s) that list this one as related
Application Number Filed Patent Pub. Date  Title
US1994000250693 1994-05-27    1997-12-30  Human transporter
US1993000021789 1993-02-24       


       
Parent Case:     This application is a continuation in part of U.S. application Ser. No. 08/250,693, filed May 27, 1994, now U.S. Pat. No. 5,701,965 which in turn is a continuation in part of U.S. application Ser. No. 08/021,789, filed Feb. 24, 1993 now abandoned. These related applications are hereby incorporated herein by reference.

Family: Show 91 known family members
First Claim:
Show all 51 claims		 What is claimed is:     1. A vehicle, for transporting a human subject over a surface that may be irregular, the vehicle comprising:
  • (a) a support for supporting the subject, the support having left and right sides and defining fore-aft and lateral planes;
  • (b) a ground-contacting module, including a pair of ground-contacting members, laterally disposed with respect to one another, movably attached to the support, for suspending the subject in the support over the surface, the support and the ground-contacting module being components of an assembly;
  • (c) a motorized drive arrangement, mounted to the assembly for causing locomotion of the assembly and the subject over the surface; and
  • (d) a control loop, in which the motorized drive is included, for dynamically maintaining stability in the fore-aft plane by operation of the motorized drive arrangement so that the net torque experienced by the assembly about the point of contact with the surface, taking into account torques caused by gravity as well as by all other external forces and by the motorized drive, causes a desired acceleration and sustained locomotion of the assembly, such stability being maintained even while the assembly experiences varying forces and accelerations;
    • wherein the control loop is configured so that fore and aft sustained motion of the vehicle is controlled by fore and aft leaning of the vehicle caused by the subject, and in maintaining stability in the fore-aft plane the control loop does not cancel out such leaning under normal conditions of locomotion.


Background / Summary: Show background / summary

Drawing Descriptions: Show drawing descriptions

Description: Show description

Forward References: Show 80 U.S. patent(s) that reference this one

       
U.S. References: Go to Result Set: All U.S. references   |  Forward references (80)   |   Backward references (43)   |   Citation Link

Buy
PDF		 Patent  Pub.Date  Inventor Assignee   Title
Buy PDF- 6pp US2742973  1956-04 Johannesen   Powered invalid chair and handle control therefor
Buy PDF- 12pp US3374845  1968-03 Selwyn   Command control system for vehicles
Buy PDF- 8pp US3399742  1968-09 Malick   Powered unicycle
Buy PDF- 6pp US3450219  1969-06 Fleming   STAIR-CLIMBING VEHICLE
Buy PDF- 6pp US3515401  1970-06 Gross   STAIR CLIMBING DOLLY
Buy PDF- 5pp US3596298  1971-08 Durst, Jr.   LIFTING DEVICE
Buy PDF- 5pp US3860264  1975-01 Douglas et al.  Mattel, Inc. LEAN VELOCIPEDE
Buy PDF- 9pp US3872945  1975-03 Hickman et al.  Falcon Research and Development Co. Motorized walker
Buy PDF- 6pp US3952822  1976-04 Udden et al.  Stiftelsen Teknisk Hjalp at Handikappade Permobilstiftelsen Electrically powered wheel-chair for indoor and outdoor use
Buy PDF- 8pp US4018440  1977-04 Deutsch   Invalid walker with wheel control mechanism
Buy PDF- 4pp US4062558  1977-12 Wasserman   Unicycle
Buy PDF- 5pp US4109741  1978-08 Gabriel   Motorized unicycle wheel
Buy PDF- 4pp US4111445  1978-09 Haibeck   Device for supporting a paraplegic in an upright position
Buy PDF- 5pp US4151892  1979-05 Francken   Motorized terrestrial surf-board
Buy PDF- 6pp US4264082  1981-04 Fouchey, Jr.   Stair climbing cart
Buy PDF- 8pp US4266627  1981-05 Lauber  Habegger; Willy Traveling assembly and wheel suspension for a rolling and stepping vehicle
Buy PDF- 7pp US4293052  1981-10 Daswick et al.   Lightweight two-wheeled vehicle
Buy PDF- 9pp US4363493  1982-12 Veneklasen   Uni-wheel skate
Buy PDF- 9pp US4375840  1983-03 Campbell   Mobile support
Buy PDF- 9pp US4510956  1985-04 King   Walking aid, particularly for handicapped persons
Buy PDF- 9pp US4560022  1985-12 Kassai  Kassai Kabushikikaisha Electrically driven children's vehicle
Buy PDF- 9pp US4657272  1987-04 Davenport   Wheeled vehicle
Buy PDF- 5pp US4685693  1987-08 Vadjunec   Upright wheelchair
Buy PDF- 7pp US4709772  1987-12 Brunet   Motorized moving device
Buy PDF- 10pp US4740001  1988-04 Torleumke   Sprag wheel
Buy PDF- 5pp US4746132  1988-05 Eagan   Multi-wheeled cycle
Buy PDF- 7pp US4770410  1988-09 Brown   Walker
Buy PDF- 16pp US4786069  1988-11 Tang   Unicycle
Buy PDF- 13pp US4790400  1988-12 Sheeter   Stepping vehicle
Buy PDF- 11pp US4790548  1988-12 Decelles et al.   Climbing and descending vehicle
Buy PDF- 7pp US4798255  1989-01 Wu   Four-wheeled T-handlebar invalid carriage
Buy PDF- 14pp US4802542  1989-02 Houston et al.  Falcon Rehabilitation Products, Inc. Powered walker
Buy PDF- 24pp US4809804  1989-03 Houston et al.  Falcon Rehabilitation Products, Inc. Combination wheelchair and walker apparatus
Buy PDF- 8pp US4863182  1989-09 Chern   Skate bike
Buy PDF- 5pp US4867188  1989-09 Reid   Orthopaedic trolley
Buy PDF- 11pp US4869279  1989-09 Hedges   Walker
Buy PDF- 8pp US4890853  1990-01 Olson   Wheelchair walker
Buy PDF- 5pp US4953851  1990-09 Sherlock et al.   Safety mobilizer walker
Buy PDF- 9pp US4985947  1991-01 Ethridge   Patient assist device
Buy PDF- 7pp US5002295  1991-03 Lin  Pro-China Sporting Goods Industries Inc. Unicycle having an eccentric wheel
Buy PDF- 8pp US5011171  1991-04 Cook   Self-propelled vehicle
Buy PDF- 48pp US5158493  1992-10 Morgrey   Remote controlled, multi-legged, walking robot
Buy PDF- 16pp US5366036  1994-11 Perry   Power stand-up and reclining wheelchair
       
Foreign References:
Buy
PDF		 Publication Date IPC Code Assignee   Title
Get PDF - 19pp EP0193473 1986-01  A61G 5/06 Brunet, Pierre Motorized transporting device, for example for climbing and descending stairs 
Buy PDF- 21pp EP0537698 1992-10  A61G 5/00 T.G.R. S.r.l. Tracked motor-vehicle, particularly adapted for invalid carriages 
  DE2048593 1971-05  A61G 5/06    
Buy PDF - 18pp DE3242880 1982-11  B60L 11/18 T.G.R. S.r.l., Ozzano dell'Emilia, IT Karre mit elektrischem Antrieb, besonders geeignet zum Transport von schweren und sperrigen Gegenstaenden auf Treppen 
Buy PDF - 18pp DE3128112 1983-03  A61G 5/04 Heid, Gerhard, Dipl.-Ing., 6100 Darmstadt, DE Kleines Elektrofahrzeug 
Buy PDF - 78pp DE3411489 1984-10  A61G 5/00 Aisin Seiki K.K., Kariya, Aichi, JP Einrichtung zum Betreiben eines medizinischen Geraets 
  JP59073372 1984-04       
  JP60255580 1985-12       
  JP61031685 1986-02       
  JP63305082 1988-12  B62D 37/00    
  JP02190277 1990-07       
  JP05213240 1993-08       
  JP07255780 1995-03       
  GB0152664 1922-02       
  GB1213930 1970-11  B62B 5/02    
Buy PDF- 23pp WO8605752 1986-10  B62B 5/02 POST, Thorkild Sorensen STAIR CLIMBING HAND TRUCK 
Buy PDF- 23pp WO8906117 1989-07  A61G 5/00 ANSCHUETZ & CO GMBH PROCESS FOR STABILIZING A SINGLE-AXLE WHEELED VEHICLE AND VEHICLE SO STABILIZED 
Buy PDF- 23pp WO8906117 1989-07  A61G 5/04 ANSCHUETZ & CO GMBH PROCESS FOR STABILIZING A SINGLE-AXLE WHEELED VEHICLE AND VEHICLE SO STABILIZED 


Other Abstract Info: DERABS G1998-076064 DERABS G1999-609847 DERABS G1998-455581 DERABS G1999-609847 DERABS G1999-619291

Other References:
  • Osaka et al., "Stabilization of Unicycle", Systems and Control, vol. 25, No. 3, Japan (1981), pp. 159-166 (Abstract only).
  • Roy et al., "Five-Wheel Unicycle System", Medical & Biological Engineering & Computing, vol. 23, No. 6, United Kingdom (1985) pp. 539-596.
  • Kawaji, S., "Stabilization of Unicycle Using Spinning Motion", Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan (1987), pp. 21-28 (Abstract only).
  • Schoonwinkel, A., "Design and Test of a Computer-Stabilized Unicycle", Dissertation Abstracts International, vol. 49/03-B, Stanford University (1988), pp. 890-1294 (Abstract only).
  • Vos et al., "Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle--Theory and Experiment", American Institute of Aeronautics and Astronautics, A90-26772 10-39, Washington, D.C. (1990), pp. 487-494 (Abstract only).
  • Kawaji, S., "Stabilization of Unicycle Using Spinning Motion", Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan (1987), pp. 21-28.
  • Schoonwinkel, A. "Design and Test of a Computer-Stabilized Unicycle", Stanford University (1988), UMI Dissertation Services.
  • Vos, D. "Dynamics and Nonlinear Adaptive Control of An Autonomous Unicycle", Massachusetts Institute of Technology, (1989).
  • Vos, D. "Nonlinear Control of An Autonomous Unicycle Robot: Practical Issues", Massachusetts Institute of Technology, (1992).
  • Koyanagi et al., "A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and Its Posture Control and Vehicle Control", The Society of Instrument and Control Engineers, Special issue of the 31st SICE Annual Conference, Japan (1992), pp. 13-16.
  • Koyanagi et al, "A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot", The Society of Instrument and Control Engineers, Special issue of of the 31st SICE Annual Conference, Japan (1992), pp. 51-56.
  • Koyanagi et al. "A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and its Two Dimensional Trajectory Control", Proceeding of the Second International Symposium on Measurement and Control in Robotics, Japan (1992), pp. 891-898.
  • Watson Industries, Inc., Vertical Reference Manual ADS-C132-1A and ADS-C232-1A, (1992), pp. 3-4.
  • News article "Amazing Wheelchair Goes Up and Down Stairs".


    • Continuity Data:
    Application Number Filed Notes
    US1995000384705 1995-02-03  is a related to the prior publication
         US20020170754A1 issued 2002-11-21  Controlled balancing toy
    US1995000384705 1995-02-03  is a related to the prior publication
         US20030183435A1 issued 2003-10-02  Balancing personal vehicle
    US1995000384705 1995-02-03  is a related to the prior publication
         US20030231022A1 issued 2003-12-18  Speed limiting for a balancing transporter
    US1995000384705 1995-02-03  is a related to the prior publication
         US20040007425A1 issued 2004-01-15  Self-balancing ladder and camera dolly
    US1995000384705 1995-02-03  is a related to the prior publication
         US20040011573A1 issued 2004-01-22  Guided control of a transporter
    US1995000384705 1995-02-03  is a related to the prior publication
         US20040069543A1 issued 2004-04-15  Motion control of a transporter
    US1995000384705 1995-02-03  is a related to the prior publication
         US20040118622A1 issued 2004-06-24  Speed limiting for a balancing transporter accounting for variations in system capability
    US2006000471241 2006-06-20  is a division of
    US2003000617608  2003-07-11   (granted)
         US7090040 issued 2006-08-15   Motion control of a transporter
    US2007000926606 2007-10-29  is a division of
    US2003000462379  2003-06-16   (pending) [presumed granted]
         US7546889 issued 2009-06-16   Guided control of a transporter
    US1994000250693   is a continuation in part of
    US2003000462379     (pending) [presumed granted]
         US7546889 issued 2009-06-16   Guided control of a transporter
    US2003000669879 2003-09-23  is a continuation in part of
    US2003000460970  2003-06-13   (pending) [presumed granted]
         US6874591 issued 2005-04-05   Speed limiting for a balancing transporter
    US2003000669879   is a continuation in part of
    US2003000460970  2003-06-13   (pending) [presumed granted]
         US6874591 issued 2005-04-05   Speed limiting for a balancing transporter
    >US1995000384705<   is a continuation in part of
    US2003000460970     (pending) [presumed granted]
         US6874591 issued 2005-04-05   Speed limiting for a balancing transporter
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2002000395299P  2002-07-12
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2002000389136P  2002-06-14
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2002000389134P  2002-06-14
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2002000388937P  2002-06-14
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2002000388845P  2002-06-14
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2002000388723P  2002-06-14
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2002000347800P  2002-01-10
    US2003000462379 2003-06-16  is a continuation in part of
    US2002000308888  2002-12-03   (pending)
    US2003000462379   is a continuation in part of
    US2002000308888  2002-12-03   (abandoned)
    US1995000384705 1995-02-03  is a non-provisional of provisional
    US2001000336601P  2001-12-05
    US2002000159700 2002-05-29  is a continuation in part of
    US2000000619086  2000-07-19   (abandoned)
    US2002000159700   is a continuation in part of
    US2000000619086  2000-07-19   (abandoned)
    US2003000374689 2003-02-26  is a division of
    US1999000456347  1999-12-08   (granted)
         US6543564 issued 2003-04-08   Balancing personal vehicle
    US2003000374689   is a division of
    US1999000456347  1999-12-08
         US6543564 issued 2003-04-08   Balancing personal vehicle
    US2007000928757 2007-10-30  is a division of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2006000471241 2006-06-20  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000617608 2003-07-11  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000617608   is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000616025 2003-07-09  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000616025   is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000462379 2003-06-16  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000462379   is a continuation in part of
    US1999000325976  1999-06-04
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000461720 2003-06-13  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000460970 2003-06-13  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000460970   is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2003000460053 2003-06-12  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2001000862839 2001-05-22  is a division of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2000000619086 2000-07-19  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US2000000619086   is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US1999000456347 1999-12-08  is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US1999000456347   is a continuation in part of
    US1999000325976  1999-06-04   (pending) [presumed granted]
         US7370713 issued 2008-05-13   Personal mobility vehicles and methods
    US1999000325976 1999-06-04  is a continuation in part of
    US1995000479901  1995-06-07   (granted)
         US5975225 issued 1999-11-02   Transportation vehicles with stability enhancement using CG modification
    US1999000325976   is a continuation in part of
    US1995000479901  1995-06-07
         US5975225 issued 1999-11-02 1999-11-02  Transportation vehicles with stability enhancement using CG modification
    US1999000325976   is a continuation in part of
    US1995000479901  1995-06-07
         US5975225 issued 1999-11-02   Transportation vehicles with stability enhancement using CG modification
    >US1995000384705<   is a continuation in part of
    US1995000479901  1995-06-07
         US5975225 issued 1999-11-02   Transportation vehicles with stability enhancement using CG modification
    US1999000325976   is a continuation in part of
    >US1995000384705<  1995-02-03
         US5971091 issued 1999-10-26   Transportation vehicles and methods
    US1995000479901 1995-06-07  is a continuation in part of
    >US1995000384705<  1995-02-03   (granted)
         US5971091 issued 1999-10-26   Transportation vehicles and methods
    US1995000479901   is a continuation in part of
    >US1995000384705<  1995-02-03
         US5971091 issued 1999-10-26 1999-10-26  Transportation vehicles and methods
    US1995000479901   is a continuation in part of
    >US1995000384705<  1995-02-03
         US5971091 issued 1999-10-26   Transportation vehicles and methods
    US1995000479901   is a continuation in part of
    US1994000250693  1994-05-27
         US5701965 issued 1997-12-30   Human transporter
    >US1995000384705< 1995-02-03  is a continuation in part of
    US1994000250693  1994-05-27   (granted)
         US5701965 issued 1997-12-30   Human transporter
    >US1995000384705<   is a continuation in part of
    US1994000250693  1994-05-27
         US5701965 issued 1997-12-30 1997-12-24  Human transporter
    >US1995000384705<   is a continuation in part of
    US1994000250693  1994-05-27
         US5701965 issued 1997-12-30   Human transporter
    >US1995000384705<   is a continuation in part of
    US1994000250639  1994-05-27
         US5701965 issued 1997-12-30   Human transporter
    US1994000250693 1994-05-27  is a continuation in part of
    US1993000021789  1993-02-24   (abandoned)
    US1994000250693   is a continuation in part of
    US1993000021789  1993-02-24   (abandoned)
    US1994000250639   is a continuation in part of
    US1993000021789  1993-02-24   (abandoned)


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