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 Title: |
US6443250:
Control of a balancing personal vehicle
[ Derwent Title ]
>> View Certificate of Correction for this publication
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| Country: |
US United States of America
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| Inventor: |
Kamen, Dean L.; Bedford, NH
Ambrogi, Robert R.; Manchester, NH
Heinzmann, John David; Manchester, NH
Heinzmann, Richard Kurt; Francestown, NH
Herr, David; Compton, NH
Morrell, John B.; Manchester, NH
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| Assignee: |
Deka Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
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| Published / Filed: |
2002-09-03
/ 2000-03-14
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| Application Number: |
US2000000524931
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| IPC Code: |
Advanced:
A61G 5/04;
A61G 5/06;
A61G 5/14;
B62D 57/00;
G05B 13/04;
A61G 5/10;
A61G 5/12;
B60K 7/00;
IPC-7:
B62B 9/06;
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| ECLA Code: |
A61G5/06A; A61G5/04; A61G5/14; B62D57/00; B62K3/00D; G05B13/04B; K61G5/04; K61G5/10S10; K61G5/12E; K61G5/12H; K61G203/14; L60K7/00;
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| U.S. Class: |
180/008.1;
180/007.1;
280/005.26;
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| Field of Search: |
180/7.1,8.1,8.2,8.3,6.48,6.5,6.54,65.1,65.8,21,41,907,118
280/250.1,47.315,47.371,5.2,5.22,5.24,5.26,5.28,5.32,DIG. 10
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| Priority Number: |
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| Abstract: |
A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.
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| Attorney, Agent or Firm: |
Bromberg & Sunstein LLP ;
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| Primary / Asst. Examiners: |
Olszewski, Robert P.; Cuff, Michael
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| Maintenance Status: |
CC Certificate of Correction issued
View Certificate of Correction
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Parent Case: |
This application claims priority from U.S. Provisional Application Ser. No. 60/124,403, filed Mar. 15, 1999, and incorporated herein by reference; and, this application is a continuation in part of U.S. application Ser. No. 09/325,976, filed Jun. 4, 1999, which is a continuation in part of U.S. application Ser. No. 08/479,901, filed Jun. 7, 1995, now issued as U.S. Pat. No. 5,975,225, which is a continuation in part of U.S. application Ser. No. 08/384,705, filed Feb. 3, 1995, now issued as U.S. Pat. No. 08/250,693, filed May 27, 1994, now issued as U.S. Pat. No. 5,701,965 which is a continuation-in-part of 08/021,789 filed on Feb. 24, 1993, now abandoned.
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| Designated Country: |
AE AL AM AP AZ BA BB BG BY CU CZ EA EE GD GE GH GM HR HU ID AT BE CH CY DE DK ES FI FR GB GR IE CR DM DZ
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| Family: |
Show 306 known family members
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First Claim:
Show all 4 claims |
We claim:
1. A vehicle for transporting a payload over a surface that may be irregular and may include stairs, the vehicle comprising:
- a. a support for supporting the payload;
- b. at least one ground contacting element moveable with respect to a local axis, the local axis being rotatable about a second axis having a defined relation with respect to the support, wherein all ground contacting elements are rotatable about the second axis;
- c. a motorized drive arrangement having an operating mode for controllable motion of the ground contacting element with respect to the local axis so that the local axis moves with respect to the second axis so as to operate in an operating condition that is always unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered; and
- d. an input device for receiving an indication from a user of a specified configuration of the vehicle.
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| Background / Summary: |
Show background / summary
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 16 U.S. patent(s) that reference this one
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| Foreign References: |
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PDF |
Publication |
Date |
IPC Code |
Assignee |
Title |
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DE3128112
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1983-02 |
A61G 3/06
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Heid, Gerhard, Dipl.-Ing., 6100 Darmstadt, DE
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Kleines Elektrofahrzeug |
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DE3242880
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1983-06 |
B60L 11/18
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T.G.R. S.r.l., Ozzano dell'Emilia, IT
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Cart with electrical drive, particularly suitable for transporting heavy and bulky objects on steps |
 |
EP0109927
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1984-07 |
B62B 5/02
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ROHR MARTIN VON
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Wheel assembly |
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EP0193473
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1986-09 |
A61G 5/00
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Brunet, Pierre
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Motorized transporting device, for example for climbing and descending stairs |
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EP0537698
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1993-04 |
A61G 5/06
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T.G.R. S.r.l.
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Tracked motor-vehicle, particularly adapted for invalid carriages |
 |
FR0980237
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1951-05 |
B62B 9/02
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Voiture d'enfant ou poussette à chenilles |
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FR2502090
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1982-09 |
A61G 5/06
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TOBEX MOTIVATED CHAIR CY LTD
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VEHICULE POUR MONTER OU DESCENDRE DES ESCALIERS |
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GB1213930
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1970-11 |
B62B 5/02
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GB2089300
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1982-06 |
A61G 5/04
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BIDDLE ENG CO LTD
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Control means for electric vehicle |
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GB2139576
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1984-11 |
A61G 5/00
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MAVISPACE LTD
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STAIR CLIMBING DEVICES |
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JP52044933
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1975-10 |
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JP57087766
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1982-06 |
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JP60255580
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1985-12 |
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JP63305082
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1988-12 |
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JP06105415
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1989-12 |
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JP02190277
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1990-07 |
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JP04201793
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1992-07 |
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JP07255780
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1995-03 |
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WO8906117
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1989-07 |
A61G 5/04
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ANSCHUETZ & CO GMBH
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PROCESS FOR STABILIZING A SINGLE-AXLE WHEELED VEHICLE AND VEHICLE SO STABILIZED |
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WO9623478
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1996-08 |
A61G 5/04
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DEKA PRODUCTS LIMITED PARTNERSHIP
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TRANSPORTATION VEHICULES AND METHODS |
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| Other Abstract Info: |
DERABS G1998-076064
DERABS G1998-455581
DERABS G1999-609847
DERABS G1999-619291
DERABS G2000-572317
DERABS G2000-572318
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| Other References: |
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 Isues, 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 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, Proceedings of the Second International Symposium on Measurement and Control in Robotics, Japan 1992, pp. 891-898.
News article Amazing Wheelchair Goes Up and Down Stairs.
Roy et al., Five-Wheel Unicycle System, Medical & Biological Engineering & Computing, vol. 23, No. 6, United Kingsom 1985, pp. 593-596.
(4 pages)
Cited by 45 patents
Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi. D, vol. 107, Issue 1, Japan 1987, pp. 21-28 (Abstract Only).
Osaka et al., Stabilization of UnicycleSystems and Control, vol. 25, No. 3, Japan 1981, pp. 159-66 (Abstract only).
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| Continuity Data: |
| Application Number | Filed | Notes |
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US2000000524931 | 2000-03-14 | is a
related to the prior publication |
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US2000000524931 | 2000-03-14 | is a
related to the prior publication |
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12772791 | | is a
continuation of |
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US2008000102104
| 2008-04-14 |
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US7708094 issued 2010-05-04 User input for vehicle control
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12102104 | | is a
continuation of |
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US2004000947122
| 2004-09-22 |
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US7357202 issued 2008-04-15 User input for vehicle control
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US2005000947122 | | is a
division of |
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US2002000166553
| 2002-06-10 |
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US6799649 issued 2004-10-05 2004-10-05 Control of a balancing personal vehicle
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US2005000947122 | | is a
division of |
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US2002000166553
| 2002-06-10 |
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US6799649 issued 2004-10-05 Control of a balancing personal vehicle
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US2004000947122 | 2004-09-22 | is a
division of |
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US2002000166553
| 2002-06-10 |
(granted)
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US6799649 issued 2004-10-05 Control of a balancing personal vehicle
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US2002000166553 | 2002-06-10 | is a
division of |
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>US2000000524931<
| 2000-03-14 |
(granted)
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US6443250 issued 2002-09-03 Control of a balancing personal vehicle
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US2002000166553 | | is a
division of |
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>US2000000524931<
| 2000-03-14 |
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US6443250 issued 2002-09-03 2002-09-03 Control of a balancing personal vehicle
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|
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US2002000166553 | | is a
division of |
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>US2000000524931<
| 2000-03-14 |
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US6443250 issued 2002-09-03 Control of a balancing personal vehicle
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US2001000813713 | 2001-03-21 | is a
division of |
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>US2000000524931<
| 2000-03-14 |
(pending)
[presumed granted]
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US6443250 issued 2002-09-03 Control of a balancing personal vehicle
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US2000000524931 | 2000-03-14 | is a
non-provisional of provisional |
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US1999000124403P
| 1999-03-15 |
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