Control of a balancing personal vehicle
First Claim
1. A method for enabling a subject to ascend and descend stairs with assistance by an assistant, each stair having a riser, the method comprising:
- a. providing a device, the device comprising;
i. a support for supporting the subject;
ii. a ground contacting element movable with respect to a local axis, the local axis being movable with respect to a second axis having a defined relation with respect to the support;
iii. a motorized drive arrangement for permitting controllable motion of the ground contacting element with respect to the local axis in such a manner that the local axis moves with respect to the second axis 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; and
b. maintaining wheel torque against each riser successively; and
c. changing the relation of the local axis with respect to the support so as to maintain the center of gravity of the device and the subject between specified limits in forward and rearward directions of rotation of the device.
2 Assignments
0 Petitions
Accused Products
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.
45 Citations
8 Claims
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1. A method for enabling a subject to ascend and descend stairs with assistance by an assistant, each stair having a riser, the method comprising:
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a. providing a device, the device comprising;
i. a support for supporting the subject;
ii. a ground contacting element movable with respect to a local axis, the local axis being movable with respect to a second axis having a defined relation with respect to the support;
iii. a motorized drive arrangement for permitting controllable motion of the ground contacting element with respect to the local axis in such a manner that the local axis moves with respect to the second axis 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; and
b. maintaining wheel torque against each riser successively; and
c. changing the relation of the local axis with respect to the support so as to maintain the center of gravity of the device and the subject between specified limits in forward and rearward directions of rotation of the device.
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2. A user input for controlling acceleration of a vehicle, the user input comprising:
a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. - View Dependent Claims (3, 4, 5)
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6. A user input for controlling acceleration of a vehicle, the user input comprising:
a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user, the correspondence between the degree of deflection and the specified velocity having a plurality of zones, each zone characterized by a distinct sensitivity. - View Dependent Claims (7, 8)
Specification