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 Title: |
US6543564:
Balancing personal vehicle
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Kamen, Dean L.; Bedford, NH
Field, Douglas; Bedford, NH
Heinzmann, Richard Kurt; Francetown, 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: |
2003-04-08
/ 1999-12-08
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| Application Number: |
US1999000456347
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| IPC Code: |
Advanced:
A61G 5/04;
A61G 5/06;
A61G 5/10;
A61G 5/14;
B62D 39/00;
B62D 57/00;
B62D 61/00;
B62K 5/04;
B62M 1/00;
B62M 7/12;
A61G 5/12;
B60K 7/00;
IPC-7:
B62D 33/067;
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| ECLA Code: |
A61G5/06; A61G5/04; A61G5/10S10; A61G5/14; B62D39/00; B62D57/00; B62D61/00; B62K3/00D; K61G5/10S10; K61G5/12E; K61G5/12H; L60K7/00; L62K204/00;
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| U.S. Class: |
180/089.13;
180/327;
180/333;
280/005.513;
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| Field of Search: |
180/89.13,89.14,315,327,328,333,180,181,908,65.1
280/5.501,6.154,5.507,5.513
701/124
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| Priority Number: |
| 1999-12-08 |
US1999000456347 |
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| Abstract: |
A transportation vehicle for transporting an individual over ground having a surface that may be irregular. The vehicle has a support platform for supporting the subject and the support platform is coupled to a ground-contacting module at a pivot. While the ground-contacting module may be statically stable, balance of the support platform with respect to the ground-contacting module is maintained by motion of the ground-contacting module in response to leaning of the support platform. A motorized drive coupled to the ground-contacting module causes locomotion of the vehicle and the subject therewith over the surface, while a control loop, in which the motorized drive is included, dynamically enhances stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module. In the event of failure of the control loop, the pivot connection of the support platform to the ground-contacting module may be locked, thereby ensuring stability of the static assembly.
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| Attorney, Agent or Firm: |
Bromberg & Sunstein LLP ;
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| Primary / Asst. Examiners: |
Dickson, Paul N.; Dunn, David R.
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| INPADOC Legal Status: |
Show legal status actions
Family Legal Status Report
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| Parent Case: |
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. 5,971,091, which is a continuation in part of U.S. application Ser. No. 08/250,693, filed May 27, 1994, now issued as U.S. Pat. No. 5,701,965.
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| Designated Country: |
AE AG AL AM AP AZ BA BB BG BR BY BZ CA CN CR CU CZ DM DZ EA EE GD GE GH GM HR HU AT BE CH CY DE DK ES FI FR GB GR
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| Family: |
Show 321 known family members
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First Claim:
Show all 10 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 platform for supporting the subject, the support platform defining fore-aft and lateral planes;
- b. a ground-contacting module pivotably attached to the support platform for suspending the support platform over the surface, the ground-contacting module stable to tipping both fore and aft while stationary, the support platform unstable to tipping in the fore-aft plane while the ground-contacting module is stationary;
- c. a motorized drive arrangement, mounted to at least one of the ground contacting module and the support platform, for causing locomotion of the ground contacting module over the surface; and
- d. a control loop, in which the motorized drive arrangement is included, for dynamically maintaining stability of the support platform to tipping in the fore-aft plane by operation of the motorized drive arrangement in such a manner as to cause a specified acceleration of the ground contacting module.
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| Background / Summary: |
Show background / summary
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| Drawing Descriptions: |
Show drawing descriptions
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| Description: |
Show description
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| Forward References: |
Show 35 U.S. patent(s) that reference this one
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| Foreign References: |
Buy
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 |
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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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EP0257791
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1987-07 |
B62D 57/00
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Sheeter, Eric
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A vehicle |
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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 |
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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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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 G2001-381585
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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 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, Proceeding 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 no date.
Osaka et al., 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. 593-596.
Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan 1987, pp. 21-28 (Abstract Only).
Kanoh Adaptive Control of Inverted Pendulum, Computrol, vol. 2, pp. 69-75 (1983).
Yamafuji A Proposal for Modular-Structured Mobile Robots for Work that Principally Involve a Vehicle with Two Parallel Wheels, Automation Technology, vol. 20, pp. 113-118 (1988).
Yamafuji & Kawamura Study of Postural and Driving Control of Coaxial Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 54, No. 501, pp. 1114-1121 (May, 1988).
Yamafuji et al. Synchronous Steering Control of a Parallel Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 55, No. 513, pp. 1229-1234 (May, 1989).
Momoi & Yamafuji Motion control of the Paralell Bicycle-Type Mobile Robot Composed of a Triple Inverted Pendulum, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 57, No. 541, pp. 154-159 (Sep., 1991).
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