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Title: US5701965: Human transporter
[ Derwent Title ]

Country: US United States of America

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48 pages

 
Inventor: Kamen, Dean L.; Bedford, NH
Ambrogi, Robert R.; Manchester, NH
Duggan, Robert J.; Northwood, NH
Heinzmann, Richard K.; 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: 1997-12-30 / 1994-05-27

Application Number: US1994000250693
IPC Code: Advanced: A61G 5/04; A61G 5/06; A61G 5/14; B62D 57/00; A61G 5/10; A61G 5/12; B60K 7/00;
IPC-7: B62D 61/12;

ECLA Code: A61G5/06A; A61G5/04; A61G5/06B2; A61G5/06D; A61G5/14; B62D57/00; B62K3/00D; K61G5/10S2; K61G5/10S10; K61G5/10S14; K61G5/12E; K61G5/12H; K61G203/14; K61G203/20; L60K7/00;

U.S. Class: Current: 180/007.1; 180/006.5; 180/008.2; 180/021; 180/065.8; 180/907; 280/005.26; 700/071; 701/124;
Original: 180/007.1; 180/006.5; 180/008.2; 180/021; 180/065.8; 180/907; 280/005.26; 364/176; 364/463;

Field of Search: 180/7.1,8.2,8.3,8.5,8.6,65.1,65.8,907,118,6.48,6.5,6.54,41,21 901/001 364/176,463,424.05,424.06,434 280/5.2,5.26,5.28,5.32,6.1,205,DIG. 10

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

Abstract:     There is provided, in a preferred embodiment, a device for transporting a human subject over ground having a surface that may be irregular and may include stairs. 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 cluster of wheels. In another embodiment, each ground-contacting member includes a pair of axially adjacent and rotatably mounted arcuate element pairs.

Attorney, Agent or Firm: Bromberg & Sunstein LLP ;

Primary / Asst. Examiners: Boehler, Anne Marie;

INPADOC Legal Status: Show legal status actions          Buy Now: Family Legal Status Report

       
Related Applications: Go to Result Set: 31 patent(s) that list this one as related
Application Number Filed Patent Pub. Date  Title
US1993000021789 1993-02-24       


       
Parent Case:     This application is a continuation in part of U.S. application Ser. No. 08/021,789, filed Feb. 24, 1993, now abandoned, which is hereby incorporated herein by reference.

Family: Show 363 known family members
First Claim:
Show all 54 claims		 What is claimed is:     1. A device, for transporting a human subject over a surface that may be irregular and may include stairs, the device comprising:
  • (a) a support for supporting the subject, the support having left and right sides and defining fore-aft and lateral planes;
  • (b) a plurality of support members on each side of the support, each support member being mounted to permit complete travel around an axis and joined to a discrete ground-contacting component, the ground-contacting component having a point of contact with the surface and occupying only a portion of the entire angular distance around the axis; the support and the support members being parts of an assembly;
  • (c) a motorized drive arrangement, mounted to the assembly, coupled to the support members, for causing locomotion of the assembly and the subject over the surface; and
  • (d) a control loop, in which the motorized drive arrangement 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 of the assembly.
    •


Background / Summary: Show background / summary

Drawing Descriptions: Show drawing descriptions

Description: Show description

Forward References: Show 97 U.S. patent(s) that reference this one

       
U.S. References: Go to Result Set: All U.S. references   |  Forward references (97)   |   Backward references (48)   |   Citation Link

Buy
PDF		 Patent  Pub.Date  Inventor Assignee   Title
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Get PDF - 3pp US3260324  1966-07 Saurez   Motorized unicycle
Get PDF - 8pp US3399742  1968-09 Malick   Powered unicycle
Get PDF - 6pp US3515401  1970-06 Gross   STAIR CLIMBING DOLLY
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Get PDF - 8pp US4018440  1977-04 Deutsch   Invalid walker with wheel control mechanism
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Get PDF - 5pp US4109741  1978-08 Gabriel   Motorized unicycle wheel
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Get PDF - 5pp US4746132  1988-05 Eagan   Multi-wheeled cycle
Get PDF - 7pp US4770410  1988-09 Brown   Walker
Get PDF - 16pp US4786069  1988-11 Tang   Unicycle
Get PDF - 13pp US4790400  1988-12 Sheeter   Stepping vehicle
Get PDF - 11pp US4790548  1988-12 Decelles   Climbing and descending vehicle
Get PDF - 15pp US4794999  1989-01 Hester   Wheelchair and method of operating same
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Get PDF - 48pp US5158493  1992-10 Morgrey   Remote controlled, multi-legged, walking robot
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Get PDF - 16pp US5241875  1993-09 Kochanneck   Multiblock-robot
Get PDF - 29pp US5248007  1993-09 Watkins  Quest Technologies, Inc. Electronic control system for stair climbing vehicle
Get PDF - 4pp US5314034  1994-05 Chittal   Powered monocycle
Get PDF - 14pp US5350033  1994-09 Kraft   Robotic inspection vehicle
Get PDF - 16pp US5366036  1994-11 Perry   Power stand-up and reclining wheelchair
       
Foreign References:
Buy
PDF		 Publication Date IPC Code Assignee   Title
  FR0098027 1951-05       
Buy PDF - 78pp DE3411489 1984-10  A61G 5/04 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       
  JP02190277 1990-07       
  JP02190277 1990-07       
  JP05213240 1993-08       
  GB1213930 1970-11  B62B 5/02    
Get PDF - 23pp WO8605752 1986-10  B62B 5/02 POST THORKILD SOERENSEN STAIR CLIMBING HAND TRUCK 
Get 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 G1998-076064 DERABS G1998-455581 DERABS G1999-609847 DERABS G1999-619291

Other References:
  • 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 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.
  • Watson Industries, Inc., Vertical Reference Manual ADS-C132-1A and ADS-C232-1A, (1992), pp. 3-4.
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  • Roy et al., "Five-Wheel Unicycle System", Medical & Biological Engineering & Computing, vol. 23, No. 6, United Kingdom (1985), pp. 593-596. (4 pages) Cited by 45 patents
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  • 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).


    • Continuity Data:
    Application Number Filed Notes
    US1994000250693 1994-05-27  is a related to the prior publication
         US20020170754A1 issued 2002-11-21  Controlled balancing toy
    US1994000250693 1994-05-27  is a related to the prior publication
         US20030183435A1 issued 2003-10-02  Balancing personal vehicle
    US1994000250693 1994-05-27  is a related to the prior publication
         US20030231022A1 issued 2003-12-18  Speed limiting for a balancing transporter
    US1994000250693 1994-05-27  is a related to the prior publication
         US20040007425A1 issued 2004-01-15  Self-balancing ladder and camera dolly
    US1994000250693 1994-05-27  is a related to the prior publication
         US20040011573A1 issued 2004-01-22  Guided control of a transporter
    US1994000250693 1994-05-27  is a related to the prior publication
         US20040069543A1 issued 2004-04-15  Motion control of a transporter
    US1994000250693 1994-05-27  is a related to the prior publication
         US20040118622A1 issued 2004-06-24  Speed limiting for a balancing transporter accounting for variations in system capability
    US1994000250693 1994-05-27  is a related to the prior publication
         US20060249313A1 issued 2006-11-09  Motion control of a transporter
    US1994000250693 1994-05-27  is a related to the prior publication
         US20080099265A1 issued 2008-05-01  Guided Control of a Transporter
    US2006000471241 2006-06-20  is a division of
    US2003000617608  2003-07-11   (granted)
         US7090040 issued 2006-08-15   Motion control of a transporter
    11471241   is a division of
    US2003000617608  2003-07-11
         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
    11926606   is a division of
    US2003000462379  2003-06-16
         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
    US1994000250693 1994-05-27  is a non-provisional of provisional
    US2002000395299P  2002-07-12
    US1994000250693 1994-05-27  is a non-provisional of provisional
    US2002000389136P  2002-06-14
    US1994000250693 1994-05-27  is a non-provisional of provisional
    US2002000389134P  2002-06-14
    US1994000250693 1994-05-27  is a non-provisional of provisional
    US2002000388937P  2002-06-14
    US1994000250693 1994-05-27  is a non-provisional of provisional
    US2002000388845P  2002-06-14
    US1994000250693 1994-05-27  is a non-provisional of provisional
    US2002000388723P  2002-06-14
    US1994000250693 1994-05-27  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)
    US1993000021789   is a continuation in part of
    US2002000308888  2002-12-03   (abandoned)
    US1994000250693 1994-05-27  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
    US2003000617608   is a continuation in part of
    US1999000325976  1999-06-04
         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 1997-12-30  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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