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 Title: |
US6929080:
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, United States of America
Field, Douglas; Bedford, NH, United States of America
Heinzmann, Richard Kurt; Francestown, NH, United States of America
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| Assignee: |
DEKA Products Limited Partnership, Manchester, NH, United States of America
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
News, Profiles, Stocks and More about this company
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| Published / Filed: |
2005-08-16
/ 2003-02-26
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| Application Number: |
US2003000374689
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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 33/08;
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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: |
180/089.14;
180/181;
180/327;
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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: |
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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: |
Dunn, David R.;
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| INPADOC Legal Status: |
Show legal status actions
Family Legal Status Report
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| Foreign References: |
Buy
PDF |
Publication |
Date |
IPC Code |
Assignee |
Title |
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DE3128112A1
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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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DE3242880A1
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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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EP0537698A1
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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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GB2139576A
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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 C2001-381585
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| Other References: |
Kawaji, S., 1987, Stabilization of Unicycle Using Spinning Motion Denkki Gakkai Ronbushi, D., vol. 107, Issue I, Japan, pp. 21-28.
Schoonwinkel A., 1988, Design and Test of a Computer-Stabilized Unicycle, Stanford University (1988) UMI Dissertation Services.
Vos, D., 1989, Dynamics and Nonlinear Adaptive COntrol of an Autonomous Unicycle, Massachusetts Institute of Technology.
Vos, D., 1992, Nonlinear Control of an Autonomous Unicycle Robot; Practical Issues, Massachusetts Institute of Technology.
Koyanagi et al., 1992, 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, pp 13-16.
Koyanagi et al., 1992, 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, pp. 51-56.
Koyanagi et al., 1992, 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, pp. 891-898.
No Date, News article Amazing Wheelchair Goes Up and Down Stairs.
Osaka et al., 1981, Systems and Control, vol. 25, No. 3, Japan 1981, pp. 159-166 (Abstract Only).
Roy et al., 1985, Five-Wheel Unicycle System, Medical & Biological Engineering & Computing, vol. 23, No. 6, United Kingdom , pp. 593-596.
(4 pages)
Cited by 45 patents
Kawaji, S., 1987, Stabilizationi of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan pp. 21-28 (Abstract Only).
Kanoh, 1983, Adaptive Control of Inverted Pendulum, Computrol, vol. 2, pp. 69-75.
Yamafuji, 1988, 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.
Yamafuji & Kawamura, May 1988, 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. 1114-21.
Yamafuji et al., May 1989, Synchronous Steering Control of a Parallel Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 55, No. 513, pp. 1229-34.
Momoi & Yamafuji, Sep. 1991, 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.
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