Control of a personal transporter based on user position
First Claim
1. A controller for a transporter having at least one primary ground-contacting element, the transporter characterized by a roll angle, the controller comprising:
- a. an input for receiving specification by a user of at least one of a desired direction and velocity value based on a detected body orientation of the user; and
b. a processor for generating a command signal based at least on the user-specified direction and velocity value in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of achieving the specified direction and velocity.
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Accused Products
Abstract
A controller for providing user input of a desired direction of motion or orientation for a transporter. The controller has an input for receiving specification by a user of a value based on a detected body orientation of the user. User-specified input may be conveyed by the user using any of a large variety of input modalities, including: ultrasonic body position sensing; foot force sensing; handlebar lean; active handlebar; mechanical sensing of body position; and linear slide directional input. An apparatus that may include an active handlebar is provided for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle.
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Citations
13 Claims
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1. A controller for a transporter having at least one primary ground-contacting element, the transporter characterized by a roll angle, the controller comprising:
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a. an input for receiving specification by a user of at least one of a desired direction and velocity value based on a detected body orientation of the user; and
b. a processor for generating a command signal based at least on the user-specified direction and velocity value in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of achieving the specified direction and velocity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle, the apparatus comprising:
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a. an input for receiving specification by the rider of a desired direction of travel;
b. an indicating means for reflecting to the rider a desired instantaneous body orientation based at least on current lateral acceleration of the vehicle. - View Dependent Claims (13)
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Specification