Powered roller skates

• US 6,059,062 A
• Filed: 11/13/1997
• Issued: 05/09/2000
• Est. Priority Date: 05/31/1995
• Status: Expired due to Fees

• Current Assignee: Empower Corporation (Zap)
• Original Assignee: Empower Corporation (Zap)
• Inventors: Lang, Jeffrey H., Staelin, David H.
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US08/952,221
• Time in Patent Office: 908 Days
• Field of Search: 180/180, 180/181, 180/65.1, 180/65.5, 180/65.6, 180/214, 180/220, 280/87.042
• US Class Current: 180/181
• CPC Class Codes: A43B 5/16 Skating boots
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: B60L 15/007 Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
• CPC Class Codes: B60L 15/025 using field orientation; Vector control; Direct Torque Control [DTC]
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2200/20 Vehicles specially adapted for children, e.g. toy vehicles
• CPC Class Codes: B60L 2210/10 DC to DC converters
• CPC Class Codes: B60L 2220/14 Synchronous machines
• CPC Class Codes: B60L 2220/42 with use of more than one motor
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/425 Temperature
• CPC Class Codes: B60L 2240/427 Voltage
• CPC Class Codes: B60L 2240/429 Current
• CPC Class Codes: B60L 2240/525 Temperature of converter or components thereof
• CPC Class Codes: B60L 2240/545 Temperature
• CPC Class Codes: B60L 2240/547 Voltage
• CPC Class Codes: B60L 2240/549 Current
• CPC Class Codes: B60L 2240/80 Time limits
• CPC Class Codes: B60L 2250/10 : by alarm
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/28 : Four wheel or all wheel drive
• CPC Class Codes: B60L 2270/145 : Structure borne vibrations
• CPC Class Codes: B60L 3/003 : relating to inverters
• CPC Class Codes: B60L 3/0046 : relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 3/0092 : with use of redundant elements for safety purposes
• CPC Class Codes: B60L 50/51 : characterised by AC-motors
• CPC Class Codes: B60L 50/66 : Arrangements of batteries
• CPC Class Codes: B60L 58/12 : responding to state of charge [SoC]
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: B60L 7/14 : for vehicles propelled by ac motors
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A powered roller skate including a foot support, multiple wheels mounted to the foot support, and a motor coupled to at least one of the wheels. The powered roller skate further includes an active control system having a sensor located on the skate and a controller. The controller receives electrical signals from the sensor and electrical signals from the motor, which indicate the state of the motor. In response to those signals and in accordance with a control mechanism, the controller sends electrical signals to the motor to control the operation of the motor.

Claims

1. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a sensor located on the skate; and

a controller coupled to the sensor and to the motor;

the controller adapted to, in response to electrical signals received from the sensor and the motor, and in accordance with a control mechanism, send electrical signals to the motor to control operation of the motor.

2. The powered roller skate according to claim 1, wherein the sensor detects skating motion and wherein the electrical signals sent from the sensor to the controller represent the sensed skating motion.

3. The powered roller skate according to claim 2, wherein the sensor is responsive to weight distribution.

4. The powered roller skate according to claim 3, wherein the sensor is mounted to the foot support to detect pressure applied to the foot support.

5. The powered roller skate according to claim 4, wherein the sensor is embedded in a forward portion of the foot support.

6. The powered roller skate according to claim 5, wherein the controller is adapted to send electrical signals to the motor to cause the motor to accelerate when the sensor senses that weight on the forward portion of the foot support falls within a predetermined range.

7. The powered roller skate according to claim 6, wherein the controller is adapted to cause the motor to accelerate as a function of the pressure detected by the sensor.

8. The powered roller skate according to claim 6, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when the sensor senses that weight on the forward portion of the foot support is outside of the predetermined range.

9. The powered roller skate according to claim 8, wherein the controller is adapted to cause the motor to decelerate in inverse proportion to the pressure detected by the sensor.

10. The powered roller skate according to claim 4, wherein the sensor is embedded in a rearward portion of the foot support.

11. The powered roller skate according to claim 10, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when the sensor senses that weight on the rearward portion of the foot support exceeds a predetermined threshold.

12. The powered roller skate according to claim 11, wherein the controller is adapted to cause the motor to decelerate as a function of the pressure detected by the sensor.

13. The powered roller skate according to claim 11, further including a second pressure sensor, coupled to the controller, for sending electrical signals representing a weight distribution of the user to the controller, and wherein the second pressure sensor is embedded in a forward portion of the foot support.

14. The powered roller skate according to claim 13, wherein the controller is adapted to send electrical signals to the motor to cause the motor to accelerate when signals from the pressure sensors indicate a forward distribution of the user'"'"'s weight.

15. The powered roller skate according to claim 14, wherein the controller is adapted to cause the motor to accelerate as a function of the forward distribution of the user'"'"'s weight.

16. The powered roller skate according to claim 13, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when signals from the pressure sensors indicate a rearward distribution of the user'"'"'s weight.

17. The powered roller skate according to claim 16, wherein the controller is adapted to cause the motor to decelerate as a function of the rearward distribution of the user'"'"'s weight.

18. The powered roller skate according to claim 3, wherein the plurality of wheels are rotatably mounted to the foot support through a plurality of axles and wherein the sensor is coupled to one of the plurality of axles.

19. The powered roller skate according to claim 1, wherein the sensor is a pressure sensor and is mounted to the foot support for detecting a user'"'"'s total weight, and wherein the controller is adapted to send electrical signals to the motor to prevent the motor from starting when the weight detected by the sensor falls outside of a predetermined range.

20. The powered roller skate according to claim 1, wherein the sensor is a pressure sensor embedded in a forward portion of the foot support for detecting pressure from a user'"'"'s toes.

21. The powered roller skate according to claim 20, wherein the controller controls the motor in accordance with detected predetermined patterns of pressure on the pressure sensor.

22. The powered roller skate according to claim 21, wherein the detected predetermined patterns of pressure on the pressure sensor indicate a plurality of operational modes according to which the controller controls the motor.

23. The powered roller skate according to claim 2, wherein the sensor is responsive to an angle between the user'"'"'s foot and lower leg, the angle indicating skating motion.

24. The powered roller skate according to claim 23, wherein the controller is adapted to send electrical signals to the motor to cause the motor to accelerate when the angle is less than a predetermined threshold.

25. The powered roller skate according to claim 24, wherein the controller is adapted to cause the motor to accelerate as a function of the angle detected by the sensor.

26. The powered roller skate according to claim 23, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when the angle is greater than a predetermined threshold.

27. The powered roller skate according to claim 26, wherein the controller is adapted to cause the motor to decelerate as a function of the angle detected by the sensor.

28. The powered roller skate according to claim 2, wherein the sensor is responsive to skate orientation.

29. The powered roller skate according to claim 28, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when a signal from the sensor indicates that the skate is outside of a predetermined orientation range.

30. The powered roller skate according to claim 29, wherein the controller is adapted to cause the motor to decelerate as a function of the orientation detected by the sensor.

31. The powered roller skate according to claim 28, wherein the controller is adapted to control the operation of the motor in accordance with detected predetermined patterns of skate orientation.

32. The powered roller skate according to claim 31, wherein the controller is adapted to send electrical signals to the motor to start the motor in response to a particular detected pattern of orientation.

33. The powered roller skate according to claim 31, wherein the detected predetermined patterns of orientation indicate a plurality of operational modes according to which the controller controls the motor.

34. The powered roller skate according to claim 1, further comprising a skid pad mounted to the foot support, wherein the sensor is a pressure sensor and is coupled to the skid pad to detect pressure on the skid pad.

35. The powered roller skate according to claim 34, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when the sensor detects pressure above a predetermined threshold.

36. The powered roller skate according to claim 35, wherein the controller is adapted to cause the motor to decelerate as a function of the amount of pressure detected by the sensor.

37. The powered roller skate according to claim 34, wherein the skid pad is mounted to a heel portion of the foot support.

38. The powered roller skate according to claim 1, wherein the sensor is a temperature sensor.

39. The powered roller skate according to claim 38, wherein the controller is adapted to reduce current to the motor when the sensor detects a temperature above a predetermined threshold.

40. The powered roller skate according to claim 38, wherein the controller is adapted to reduce current to the motor as a function of the temperature detected by the sensor.

41. The powered roller skate according to claim 38, wherein the controller is adapted to send electrical signals to the motor to prevent the motor from starting when the sensor detects a temperature below a predetermined threshold.

42. The powered roller skate according to claim 38, wherein the temperature sensor is responsive to an environmental temperature.

43. The powered roller skate according to claim 38, wherein the temperature sensor is responsive to motor temperature.

44. The powered roller skate according to claim 38, wherein the controller includes electronic components and wherein the temperature sensor is responsive to the temperature of the electronic components.

45. The powered roller skate according to claim 38, wherein the motor is an electric motor and wherein the roller skate further comprises a battery pack coupled to the motor for supplying power to the motor, and wherein the temperature sensor is responsive to the temperature of the battery pack.

46. The powered roller skate according to claim 1, wherein the controller is adapted to determine motor temperature as a function of motor winding resistance.

47. The powered roller skate according to claim 1, wherein the motor is an electric motor and the controller is adapted to determine motor temperature as a function of the history of motor current and environmental temperature, in accordance with a thermal model defined by the control mechanism, the controller also adapted to limit, in response to excessive motor temperature, the maximum allowed motor current.

48. The powered roller skate according to claim 1, wherein the sensor is a shock sensor.

49. The powered roller skate according to claim 48, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when the shock sensor detects a shock applied to the skate of a magnitude above a predetermined threshold.

50. The powered roller skate according to claim 49, wherein the controller is adapted to cause the motor to decelerate as a function of the shock detected by the sensor.

51. The powered roller skate according to claim 48, wherein the controller is adapted to control the motor in accordance with a predetermined pattern of shocks detected by the shock sensor.

52. The powered roller skate according to claim 51, wherein the controller is adapted to send electrical signals to the motor to start the motor in response to a particular predetermined pattern of shocks.

53. The powered roller skate according to claim 51, wherein the detected predetermined patterns of shock indicate a plurality of operational modes according to which the controller controls the motor.

54. The powered roller skate according to claim 1, wherein the controller includes a sensor recalibration mechanism for automatically, periodically recalibrating the sensor.

55. The powered roller skate according to claim 1, wherein the sensor is a range sensor for detecting the distance between the powered roller skate and another powered roller skate.

56. The powered roller skate according to claim 52, wherein the controller is adapted to send electrical signals to the motor to cause the motor to decelerate when the roller skate is more than a predetermined distance ahead of said another powered roller skate.

57. The powered roller skate according to claim 56, wherein the controller is adapted to control the motor as a function of a distance between the roller skate and another roller skate.

58. The powered roller skate according to claim 57, wherein the controller is adapted to send electrical signals to the motor to cause the motor to accelerate when the roller skate is more than a predetermined distance behind said another powered roller skate.

59. The powered roller skate according to claim 1, wherein the sensor is a pressure sensor mounted on a side of the foot support for detecting a lateral weight distribution of the user.

60. The powered roller skate according to claim 59, wherein the controller is adapted to send electrical signals to the motor to cause the motor to turn at least one of the plurality of wheels in accordance with said lateral weight distribution.

61. The powered roller skate according to claim 1, wherein the sensor is a mode switch constructed and arranged to be manipulated by the user to indicate an operational mode.

62. The powered roller skate according to claim 1, wherein the sensor is a kill switch which is adapted to, when manipulated by the user, cause the controller to send electrical signals to the motor to stop the motor.

63. The powered roller skate according to claim 1, wherein the control mechanism includes a plurality of operational parameters for controlling the motor.

64. The powered roller skate according to claim 63, wherein the operational parameters include a speed limit, and wherein the controller is adapted to cause the motor to decelerate if motor angular velocity exceeds the speed limit.

65. The powered roller skate according to claim 63, wherein operational parameters are automatically set in accordance with the user'"'"'s skating ability as detected by the sensor.

66. The powered roller skate according to claim 63, wherein operational parameters are automatically set in accordance with road conditions as detected by the sensor.

67. The powered roller skate according to claim 63, wherein operational parameters are automatically set in accordance with the user'"'"'s skating ability as determined from motor current history and motor voltage history.

68. The powered roller skate according to claim 63, wherein operational parameters are automatically set in accordance with road conditions as determined from motor current history and motor voltage history.

69. The powered roller skate according to claim 1, wherein the controller comprises

an upper level control mechanism, and

a lower level control mechanism adapted to:

electrically communicate with the motor,

estimate motor torque using electrical signals from the motor,

receive electrical signals from the sensor, and

send to the upper level control mechanism electrical signals representing the estimated motor torque and the electrical signals received from the sensor, and

wherein the upper level control mechanism is adapted to send, in response to electrical signals received from the lower level control mechanism, electrical signals to the lower level control mechanism indicating a desired motor torque.

70. The powered roller skate according to claim 1, wherein the controller comprises

an upper level control mechanism, and

a lower level control mechanism adapted to:

electrically communicate with the motor,

estimate motor angular velocity using electrical signals from the motor,

receive electrical signals from the sensor, and

send to the upper level control mechanism electrical signals representing the estimated motor angular velocity and the electrical signals received from the sensor, and

wherein the upper level control mechanism is adapted to send, in response to electrical signals received from the lower level control mechanism, electrical signals to the lower level control mechanism indicating a desired motor angular velocity.

71. The powered roller skate according to claim 1, wherein the controller comprises

an upper level control mechanism, and

a lower level control mechanism adapted to:

electrically communicate with the motor,

estimate motor torque and angular velocity using electrical signals from the motor,

receive electrical signals from the sensor, and

send to the upper level control mechanism electrical signals representing the estimated motor torque and angular velocity and the electrical signals received from the sensor, and

wherein the upper level control mechanism is adapted to send, in response to electrical signals received from the lower level control mechanism, electrical signals to the lower level control mechanism indicating a desired motor torque, angular velocity, and angular acceleration.

72. The powered roller skate according to claim 1, wherein the controller includes a computer having a central processing unit, a clock, and a memory.

73. The powered roller skate according to claim 72, further including a battery back-up unit electrically coupled to the computer.

74. The powered roller skate according to claim 1, further comprising an input/output port for electrically coupling the controller to an input/output bus.

75. The powered roller skate according to claim 1, further comprising

a battery pack electrically coupled to the motor for supplying electrical power to the motor, wherein the battery pack contains at least one rechargeable battery, and

a recharging port electrically coupled to the battery pack for recharging the rechargeable battery.

76. The powered roller skate according to claim 1, further comprising

a power output port coupled to the controller for supplying electrical power to external devices.

77. The powered roller skate according to claim 1, further comprising

an interskate communication system coupled to the controller for sending data to and receiving data from an external communication system.

78. The powered roller skate according to claim 77, wherein the interskate communication system is adapted to

send information to the external communication system to indicate a status of the powered roller skate, and

receive data from the external communication system for modifying the control mechanism.

79. The powered roller skate according to claim 77, wherein the external communication system is another interskate communication system of another powered roller skate worn by said user.

80. The powered roller skate according to claim 79, wherein the controller is adapted to send electrical signals to the interskate communication system to cause the interskate communication system to share braking data with said another interskate communication system.

81. The powered roller skate according to claim 79, wherein the controller is adapted to send electrical signals to the interskate communication system to cause the interskate communication system to share velocity data with said another interskate communication system.

82. The powered roller skate according to claim 81, wherein the controller is adapted to send electrical signals to the motor to maintain a desired average velocity between the powered roller skate and said another powered roller skate and to prevent a difference between the skate velocities from exceeding a predetermined threshold.

83. The powered roller skate according to claim 82, wherein the controller is adapted to allow differential skate velocity to vary within the predetermined threshold unless skate separation exceeds a second predetermined threshold.

84. The powered roller skate according to claim 79, wherein the controller is adapted to send electrical signals to the interskate communication system to cause the interskate communication system to share acceleration data with said another interskate communication system.

85. The powered roller skate according to claim 79, wherein the controller is adapted to send electrical signals to the interskate communication system to cause the interskate communication system to share mode change data with said another interskate communication system.

86. The powered roller skate according to claim 79, wherein interskate communications are provided through coded very-low-power modulated magnetic dipole near-field radiation.

87. The powered roller skate according to claim 79, wherein the interskate communication system is connected to said another interskate communication system through wires.

88. The powered roller skate according to claim 1, wherein the controller is adapted to send, in accordance with an operational mode defined by the control mechanism, electrical signals to the motor to prevent the wheels from rotating.

89. The powered roller skate according to claim 1, further comprising a wheel locking mechanism mechanically coupled to the plurality of wheels and constructed to, when activated, prevent the wheels from rotating.

90. The powered roller skate according to claim 89, wherein the plurality of wheels are rotatably mounted to the foot support through a plurality of axles and wherein the wheel locking mechanism includes:

at least one tube mounted to the foot support; and

at least one wire slidably disposed within the tube and arranged to prevent one of the wheels from rotating when advanced within the tube and to allow one of the wheels to rotate when pulled back within the tube.

91. The powered roller skate according to claim 1, wherein the controller is adapted to send, in accordance with an operational Mode defined by the control mechanism, electrical signals to the motor to compensate for motor friction.

92. The powered roller skate according to claim 1, wherein the controller is adapted to send, in accordance with an operational mode defined by the control mechanism, electrical signals to the motor to maintain a skate velocity established when the skate was last set down on a surface.

93. The powered roller skate according to claim 1, wherein the sensor is a pressure sensor coupled to the foot support for detecting a user weight distribution across the foot support and wherein the controller is adapted to send, in accordance with an operational mode defined by the control mechanism, electrical signals to the motor to establish a motor torque that accelerates and decelerates the skate in accordance with changes in the detected weight distribution.

94. The powered roller skate according to claim 1, wherein the sensor is responsive to an angle between a foot and lower leg of the user and wherein the controller is adapted to send, in accordance with an operational mode defined by the control mechanism, electrical signals to the motor to accelerate and decelerate the skate in accordance with changes in said angle.

95. The powered roller skate according to claim 94, further comprising a foot embracing means, and wherein the sensor comprises a lever coupled to the foot embracing means.

96. The powered roller skate according to claim 1, wherein the sensor is responsive to a relative position of another powered roller skate worn by said user and wherein the controller is adapted to send, in accordance with an operational mode defined by the control mechanism, electrical signals to the motor to accelerate and decelerate the skate in accordance with changes in the relative position of the powered roller skate with respect to said another powered roller skate.

97. The powered roller skate according to claim 1, further comprising a battery pack electrically coupled to the motor for supplying electrical power to the motor, wherein the battery pack contains at least one rechargeable battery and wherein excess energy supplied by the user to move the skate is transferred to the battery pack to recharge the rechargeable battery.

98. The powered roller skate according to claim 1, further comprising an indicator device electrically coupled to the controller, for providing information to the user.

99. The powered roller skate according to claim 98, wherein the indicator device is adapted to visually display the information to the user.

100. The powered roller skate according to claim 98, wherein the indicator device is adapted to acoustically transmit the information to the user.

101. The powered roller skate according to claim 1, wherein the motor is a brushless, permanent magnet electric motor.

102. The powered roller skate according to claim 101, further comprising a battery pack electrically coupled to the motor. wherein the battery pack is mounted to the foot support.

103. The battery roller skate according to claim 102, wherein the battery pack is mounted to the foot support.

104. The powered roller skate according to claim 1, wherein the motor is an internal combustion engine.

105. The powered roller skate according to claim 1, further comprising a plurality of axles through which the plurality of wheels are mounted to the foot support, wherein the motor is coupled through a pair of spur gears to one of the plurality of axles.

106. The powered roller skate according to claim 1, wherein the plurality of wheels include two front wheels rotatably coupled to a first axle which is mounted to a front portion of the foot support through a first axle assembly and two rear wheels rotatably coupled to a second axle which is mounted to a rear portion of the foot support through a second axle assembly.

107. The powered roller skate according to claim 106, wherein the two front wheels are movably mounted with respect to the two rear wheels to allow the two front wheels to be mounted varying distances from the two rear wheels.

108. The powered roller skate according to claim 1, wherein the plurality of wheels are rotatably mounted to the foot support in an in-line wheel configuration.

109. The powered roller skate according to claim 1, further comprising a foot embracing mechanism, mounted to the foot support, for securing the foot of the user to the foot support.

110. The powered roller skate according to claim 109, wherein the foot embracing mechanism comprises a shoe that is secured to the foot support.

111. The powered roller skate according to claim 109, wherein the foot embracing mechanism is adjustable.

112. The powered roller skate according to claim 109, wherein the foot embracing mechanism includes

a toe strap,

an upper-foot binding strap coupled to the toe strap,

a heel strap, and

an ankle strap coupled to the heel strap.

113. The powered roller skate according to claim 109, wherein the foot embracing mechanism includes an outer skin for enveloping the foot of the user.

114. The powered roller skate according to claim 1, wherein the foot support includes a first portion and a second portion slidably disposed relative to the first portion, to fit feet of different sizes.

115. The powered roller skate according to claim 1, wherein the wheels are rotatably mounted to the foot support through wheel retraction mechanisms.

116. The powered roller skate according to claim 115, wherein the foot support includes two portions connected together through a flexible joint.

117. The powered roller skate according to claim 1, further comprising a security device for disallowing an unauthorized user use of the powered roller skate.

118. The powered roller skate according to claim 117, wherein the security device is a mechanical lock released with a key.

119. The powered roller skate according to claim 117, wherein the security device is an electronic key pad activated with a predetermined sequence of characters.

120. The powered roller skate according to claim 1, wherein the sensor is a speech recognition sensor for receiving verbal user commands.

121. The powered roller skate according to claim 1, wherein the sensor is an audio transducer for receiving acoustic information.

122. The powered roller skate according to claim 121, wherein the acoustic information includes an authorization code.

123. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a sensor;

a detector for detecting an operational mode of the skate; and

a controller coupled to the sensor, the detector, and the motor;

the controller adapted to, in response to electrical signals from the detector indicating the operational mode of the skate, select an operational mode;

the controller further adapted to send, in response to electrical signals from the sensor and from the motor, and in accordance with the selected operational mode and a control mechanism, electrical signals to the motor to control operation of the motor.

124. The powered roller skate according to claim 123, wherein the controller is adapted to prevent the wheels from rotating in response to the selected operational mode.

125. The powered roller skate according to claim 123, wherein the controller is adapted to compensate for motor friction in accordance with the selected operational mode.

126. The powered roller skate according to claim 123, wherein the controller is adapted to maintain a skate velocity established when the skate was last set down on a surface, in accordance with the selected operational mode.

127. The powered roller skate according to claim 126, wherein the sensor is adapted to detect when the skate is set down on a surface.

128. The powered roller skate according to claim 126, wherein the controller is adapted to determine, from the electrical signals from the motor, when the skate is set down on a surface.

129. The powered roller skate according to claim 123, wherein the sensor is a pressure sensor coupled to the foot support for detecting a user weight distribution across the foot support and wherein the controller is adapted to accelerate and decelerate the skate in accordance with the detected weight distribution and the selected operational mode.

130. The powered roller skate according to claim 123, wherein the sensor is responsive to an angle between a foot and lower leg of the user and wherein the controller is adapted to accelerate and decelerate the skate in accordance with said angle and the selected operational mode.

131. The powered roller skate according to claim 130, further comprising a foot embracing means, and wherein the sensor comprises a lever coupled to the foot embracing means.

132. The powered roller skate according to claim 123, wherein the sensor is responsive to a relative position of another powered roller skate worn by said user and wherein the controller is adapted to send, in accordance with an operational mode defined by the control mechanism, electrical signals to the motor to accelerate and decelerate the skate in accordance with said relative position.

138. The pair of powered roller skates according to claim 132, wherein the communication systems communicate through coded very-low-power modulated magnetic dipole near-field radiation.

133. A pair of powered roller skates, each skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a communication system for communicating with the other skate; and

a controller coupled to the communication system and to the motor;

the controller adapted to, in response to electrical signals from the communication system and from the motor, and in accordance with a control mechanism, send electrical signals to the communication system to aid in coordinating movement of the pair of skates, and to send electrical signals to the motor to control the operation of the motor.

134. The pair of powered roller skates according to claim 133, wherein the communication systems are adapted to send and receive braking date in response to the electrical signals sent to the communication systems of each skate by the controllers of each skate.

135. The pair of powered roller skates according to claim 133, wherein the communication systems are adapted to send and receive skate velocity date in response to the electrical signals sent to the communication systems of each skate by the controllers of each skate.

136. The pair of powered roller skates according to claim 133, wherein the controllers are adapted to maintain an average velocity between the powered roller skates and prevent a difference between the two skate velocities from exceeding a predetermined threshold.

137. The pair of powered roller skates according to claim 136 wherein the controllers are adapted to allow the velocity difference to vary within the predetermined threshold unless skate separation exceeds a second predetermined threshold.

139. An automatic braking system for use with a powered roller skate having a plurality of wheels rotatable mounted to a foot support adapted to be worn on a single foot of a user, the braking system comprising:

means for determining when the skate has been stationary for a predetermined amount of time;

means for preventing, in response to an electrical signal from the determining means indicating that the skate has been stationary for a predetermined amount of time, at least one of the wheels from turning; and

means for detecting a restart trigger, wherein the preventing means, in response to an electrical signal from the detecting means indicating that the restart trigger has been detected, allows at least one of the wheels to turn.

140. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a communication mechanism for communicating information about the skate external to the skate; and

a controller coupled to the communication mechanism;

the controller adapted to, in accordance with a control mechanism, send electrical signals to the communication mechanism to cause the communication mechanism to indicate a status of the skate external to the skate.

141. The powered roller skate according to claim 140, wherein the communication mechanism is adapted to visually display the information to the user.

142. The powered roller skate according to claim 140, wherein the communication mechanism is adapted to acoustically transmit the information to the user.

143. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a communication device for communicating information about the skate external to the skate; and

a controller coupled to the communication device;

the controller adapted to send electrical signals to the communication device to cause the communication device to indicate a status of the skate external to the skate;

the controller further adapted to modify, in response to electrical signals received from the communication device, a control mechanism and control parameters to update the control mechanism.

144. The powered roller skate according to claim 143, wherein the communication device is an input/output port for connection to an input/output bus.

145. The powered roller skate according to claim 144, wherein the input/output bus is a Small Computer System Interconnect bus.

146. The powered roller skate according to claim 144, wherein the input/output port is a telephone modem.

147. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a sensor; and

a controller coupled to receive electrical signals from the sensor;

the controller adapted to modify, in response to electrical signals received from the sensor, and in accordance with a control mechanism, control parameters to update the control mechanism.

148. The powered roller skate according to claim 147, wherein the sensor is an audio transducer.

149. The powered roller skate according to claim 147, wherein the communication device is a speech recognition sensor.

150. The powered roller skate according to claim 147, wherein the communication device is a switch.

151. The powered roller skate according to claim 147, wherein the communication device is a keypad.

152. A security system for use with a powered roller skate having a plurality of wheels rotatably mounted to a foot support adapted to be worn on a single foot of a user, the security system comprising:

means for detecting an end-of-use trigger;

means for preventing, in response to an electrical signal from the end-of-use trigger detecting means indicating that the end-of-use trigger has been detected, at least one of the wheels from turning; and

means for detecting a security trigger, wherein the preventing means, in response to an electrical signal from the security trigger detecting means indicating that the security trigger has been detected, allows all of the wheels to turn.

153. The security system according to claim 152, wherein the end-of-use detecting means is a switch with more than one position and the end-of-use trigger is one of the switch positions.

154. The security system according to claim 152, wherein the end-of-use detecting means includes a sensor that detects when the skate has been stationary for a predetermined amount of time.

155. The security system according to claim 152, wherein the end-of-use detecting means includes a controller and a motor and wherein the controller is adapted to receive electrical signals from the motor and to determine from these signals when the skate has been stationary for a predetermined amount of time.

156. The security system according to claim 152, wherein the end-of-use detecting means includes a pressure sensor for detecting when the skate has been unweighted for a predetermined amount of time.

157. The security system according to claim 152, wherein the preventing means includes a controller and a motor, the controller adapted to send, in response to the electrical signal from the end-of-use detecting means, electrical signals to the motor to prevent the wheels from rotating, the controller also adapted to send, in response to the electrical signal from the security trigger detecting means, electrical signals to the motor to allow the wheels to rotate.

158. The security system according to claim 152, wherein the security trigger detecting means includes a sensor responsive to the security trigger.

159. The security system according to claim 158, wherein the security trigger detecting means includes a controller and a motor and wherein the controller is adapted to receive electrical signals from the motor and thereby to detect the security trigger.

160. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a detector for detecting when the skate is set down on a surface; and

a controller coupled to the detector and to the motor;

the controller adapted to set, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, motor torque to maintain a skate velocity established when the skate was last set down on a surface.

161. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a detector for detecting an angle between the foot and lower leg of the user; and

a controller coupled to the detector and to the motor;

the controller adapted to send, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, electrical signals to the motor to activate the motor such that skate velocity is increased and decreased according to said angle.

162. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a detector responsive to a relative position of another powered roller skate; and

a controller coupled to the detector and to the motor;

the controller adapted to send, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, electrical signals to the motor to activate the motor such that skate velocity is increased and decreased according to the relative position of said another powered roller skate.

163. The powered roller skate of claim 162, further comprising a second detector responsive to an angle between the foot and lower leg of the user, and wherein the controller is adapted to send, in response to electrical signals from the second detector and the motor, and in accordance with the control mechanism, electrical signals to the motor to control skate velocity according to said angle.

164. The powered roller skate of claim 163, further comprising a third detector for detecting when the skate is set down on a surface, and wherein the controller is adapted to set, in response to electrical signals from the fourth detector and the motor, and in accordance with the control mechanism, the motor torque to maintain a skate velocity established when the skate was last set down on a surface.

165. The powered roller skate of claim 164, further comprising a fourth detector responsive to weight distribution across the foot support, and wherein the controller is adapted to send, in response to electrical signals from the third detector and the motor, and in accordance with the control mechanism, electrical signals to the motor to control skate velocity according to the weight distribution across the foot support.

166. A powered roller skate comprising:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a motor coupled to at least one of the wheels; and

an active control system including;

a detector for detecting an exercise mode of the skate; and

a controller coupled to the detector and to the motor;

the controller adapted to send, in response to electrical signals from the motor and from the detector indicating the exercise mode, and in accordance with a control mechanism, electrical signals to the motor to cause the motor to apply a resisting torque to one or more of the plurality of wheels.

167. The powered roller skate of claim 166, wherein the detector is adapted to detect a user-desired exercise level.

168. An electrically powered personal transportation system comprising two roller skates, wherein each roller skate includes:

a foot support adapted to be worn on a single foot of a user;

a plurality of wheels rotatably mounted to the foot support for skating thereon;

a wheel locking mechanism mechanically coupled to at least one of the wheels;

an electric motor coupled to at least one of the wheels; and

an active control system including;

a sensor; and

a controller coupled to the sensor and to the motor;

the controller adapted to send, in response to electrical signals from the sensor and electrical signals from the motor indicating the state of the motor, and in accordance with a control mechanism, electrical signals to the motor to control operation of the motor.

169. A method of operating a powered roller skate comprising the steps of:

sensing skating motions of a wearer of the skate,

detecting a state of a motor coupled to at least one wheel of the skate, and

controlling the motor in response to the sensed skating motions and the detected state of the motor.

170. The method according to claim 169, wherein the step of sensing skating motions includes sensing weight distribution across a foot support of the skate.

171. The method according to claim 170, wherein the step of controlling the motor includes causing the motor to increase and decrease motor velocity as a function of the sensed weight distribution across the foot support.

172. The method according to claim 170, wherein the step of controlling the motor includes

causing the motor to increase motor velocity as a function of the sensed weight distribution on a forward portion of the foot support when the sensed weight distribution is greater than a first predetermined threshold, and

causing the motor to decrease motor velocity as a function of the sensed weight distribution on a rearward portion of the foot support when the sensed weight distribution is greater than a second predetermined threshold.

173. The method according to claim 169, wherein the step of sensing skating motions includes detecting when the wearer sets the skate down on a surface, and wherein the step of detecting a state of the motor includes determining a motor velocity established when the skate was set down.

174. The method according to claim 173, wherein the step of controlling the motor includes setting motor torque to cause the motor to maintain the motor velocity of the skate when the skate was set down.

175. The method according to claim 169, wherein the step of sensing the skating motions includes detecting when the wearer is stationary, and wherein the step of controlling the motor includes causing the motor to impose a motor torque that prevents at least one of the wheels from moving.

176. The method according to claim 175, further including sensing a restart trigger, and wherein the step of controlling the motor includes causing the motor to allow the wheel to move in response to the sensed restart trigger.

177. The method according to claim 169, wherein the step of sensing skating motions includes sensing changes in lateral weight distribution of the wearer across a foot support of the skate.

178. The method according to claim 177, wherein the step of controlling the motor includes causing the motor to turn the wheel in response to sensed changes in the lateral weight distribution.

179. The method according to claim 169, wherein the step of sensing skating motions includes sensing an angle between the foot and lower leg of the wearer.

180. The method according to claim 179, wherein the step of controlling the motor includes

causing the motor to accelerate as a function of said angle when the angle is less than a first predetermined threshold, and

causing the motor to decelerate as a function of said angle when the angle is greater than a second predetermined threshold.

181. The method according to claim 169, wherein the step of detecting the state of the motor includes detecting motor torque.

182. The method according to claim 169, wherein the step of detecting the state of the motor includes detecting angular velocity of the motor.

183. The method according to claim 169 further comprising

determining an operational mode of the skate, wherein the step of controlling the motor is further in response to the determined operational mode.

184. The method according to claim 183, wherein the step of detecting the state of the motor includes detecting when the skate is stationary, and wherein, in response to the determined operational mode, the step of controlling the motor includes causing the motor to impose a motor torque that prevents said wheel from moving.

185. The method according to claim 184, further including sensing a restart trigger, and wherein the step of controlling the motor includes causing the motor to allow the wheel to move in response to the sensed restart trigger.

186. The method according to claim 183, wherein the step of detecting the state of the motor includes detecting a motor friction, and wherein, in response to the determined operational mode, the step of controlling the motor includes setting motor torque to compensate for the detected motor friction.

187. The method according to claim 183, wherein the step of sensing skating motion includes detecting when the wearer sets the skate down on a surface, the step of detecting the state of the motor including detecting a motor velocity established when the skate was set down, and wherein, in response to the determined operational mode, the step of controlling the motor includes setting motor torque to cause the motor to maintain the motor velocity of the skate when the skate was set down.

188. The method according to claim 183, wherein the step of sensing skating motions includes sensing weight distribution of the wearer across a foot support of the skate, and wherein, in response to the determined operational mode, the step of controlling the motor includes causing the motor to increase and decrease motor velocity as a function of the sensed weight distribution across the foot support.

189. The method according to claim 183, wherein the step of sensing skating motions includes sensing weight distribution of the wearer across a foot support of the skate, and wherein, in response to the determined operational mode, the step of controlling the motor includes

causing the motor to increase motor velocity as a function of the sensed weight distribution on a forward portion of the foot support when the sensed weight distribution is greater than a first predetermined threshold on the forward portion, and

causing the motor to decrease motor velocity as a function of the sensed weight distribution on a rearward portion of the foot support when the sensed weight distribution is greater than a second predetermined threshold on the rearward portion.

190. The method according to claim 183, wherein the step of sensing skating motions includes sensing an angle between the foot and lower leg of the wearer, and wherein, in response to the determined operational mode, the step of controlling the motor includes causing the motor to increase and decrease motor velocity as a function of the sensed angle.

191. The method according to claim 183, wherein the step of sensing skating motions includes sensing an angle between the foot and lower leg of the wearer, and wherein, in response to the determined operational mode, the step of controlling the motor includes causing the motor to increase and decrease motor acceleration as a function of the sensed angle.

192. The method according to claim 183, wherein the step of sensing skating motions includes sensing an angle between the foot and lower leg of the wearer, and wherein, in response to the determined operational mode, the step of controlling the motor includes

causing the motor to increase motor acceleration as a function of the sensed angle when the angle is less than a first predetermined threshold, and

causing the motor to increase motor braking as a function of the sensed angle when the angle is greater than a second predetermined threshold.

193. The method according to claim 183, wherein the step of sensing skating motions includes sensing a distance between the powered roller skate and another roller skate, and wherein, in response to the determined operational mode, the step of controlling the motor includes causing the motor to increase and decrease motor velocity as a function of the sensed distance.

194. The method according to claim 183, wherein the step of sensing skating motions includes sensing a distance between the powered roller skate and another roller skate, and wherein, in response to the determined operational mode, the step of controlling the motor includes causing the motor to increase and decrease motor acceleration as a function of the sensed distance.

195. The method according to claim 183, wherein the step of sensing skating motions includes sensing a distance between the powered roller skate and another roller skate, and wherein, in response to the determined operational mode, the step of controlling the motor includes

causing the motor to increase motor velocity as a function of the sensed distance when the distance is greater than a first predetermined threshold, and

causing the motor to decrease motor velocity as a function of the sensed distance when the distance is less than a second predetermined threshold.

196. The method according to claim 183, wherein the step of sensing skating motions includes sensing a distance between the powered roller skate and another roller skate, and wherein, in response to the determined operational mode, the step of controlling the motor includes

causing the motor to increase motor acceleration as a function of the sensed distance when the distance is greater than a first predetermined threshold, and

causing the motor to increase motor braking as a function of the sensed distance when the distance is less than a second predetermined threshold.

197. The method according to claim 183, wherein the step of sensing skating motions includes sensing an exercise mode, and wherein, in response to the determined exercise mode, the step of controlling the motor includes causing the motor to apply resisting torque to a rotating rear axle of the powered roller skate.

198. The method according to claim 169, further comprising sensing a start trigger, and wherein the step of controlling the motor causes the motor to accelerate in response to the sensed start trigger.

199. The method according to claim 169, further comprising communicating status information to the wearer.

200. The method according to claim 169, further comprising

communicating status information with another powered roller skate.

201. The method according to claim 169, further comprising

communicating status information with an input/output port.

202. The method according to claim 169, further comprising

communicating status information with a telephone system.

203. The method according to claim 169, further comprising detecting an end-of-use trigger, and preventing, in response to said trigger, said wheel from moving.

204. The method according to claim 169, further comprising detecting a predetermined pattern of pressure on a pressure sensor, and wherein the motor is controlled in response to the detected predetermined pattern of pressure.

205. The method according to claim 169, further comprising detecting a predetermined pattern of wearer leg orientations, and wherein the motor is controlled in response to the detected predetermined pattern of orientations.

206. The method according to claim 169, further comprising detecting pressure on a braking sensor, and wherein the motor is controlled in response to the detected pressure on the braking sensor to establish a reverse torque to decelerate the skate as a function of the detected pressure.

207. The method according to claim 169, further comprising sensing motor temperature, and wherein the step of controlling the motor, in response to sensing a motor temperature above a predetermined threshold, causes the motor controller to limit motor current to prevent excessive motor temperature.

208. The method according to claim 169, further comprising sensing motor temperature, and wherein the step of controlling the motor, in response to sensing a motor temperature below a predetermined threshold, prevents the motor from operating.

209. The method according to claim 169, further comprising sensing a battery pack temperature, and wherein the step of controlling the motor, in response to sensing a battery pack temperature above a predetermined threshold, causes the battery controller to limit current to prevent excessive battery temperature.

210. The method according to claim 169, further comprising sensing electronics temperature, and wherein the step of controlling the motor, in response to sensing an electronics temperature above a predetermined threshold, causes the electronics controller to limit current to prevent excessive controller temperature.

211. The method according to claim 169, further comprising sensing skate orientation, wherein the step of controlling the motor, in response to sensing a skate orientation outside of a predetermined range, causes the motor to establish a reverse torque to decelerate the skate.

212. The method according to claim 169, further comprising sensing shocks applied to the skate, and wherein the step of controlling the motor, in response to sensing a shock above a predetermined threshold, causes the motor to establish a reverse torque to decelerate the skate as a function of the sensed shock.

213. The method according to claim 169, further comprising sensing shocks applied to the skate, and wherein the motor is controlled in response to a predetermined pattern of sensed shocks.

214. The method according to claim 169, wherein the motor is controlled in response to a plurality of operational parameters.

215. The method according to claim 169, further comprising preventing reverse movement of one or more of a plurality of wheels of the skate.

216. The method according to claim 169, further comprising detecting a backward thrust on one or more of a plurality of wheels of the skate, and wherein the motor is controlled in response to the detected backward thrust, thereby causing the motor to establish a reverse torque to decelerate the skate as a function of the detected backward thrust.

217. A method of operating a pair of powered roller skates, each skate having a motor coupled to at least one wheel of the skate, the method comprising the steps of

sensing skating motions of a wearer of the skates,

detecting a state of the motors,

communicating the sensed skating motion and detected state of the motors to the pair of roller skates, and

controlling the motors in response to the sensed skating motion and detected motor state.

218. The method according to claim 217, wherein the step of sensing skating motions includes sensing a relative position of each skate.

219. The method according to claim 218, wherein the motors are controlled in response to the sensed relative position of each skate, thereby decreasing a velocity of a designated forward one of the pair of skates when a distance between the designated forward skate and a rearward one of the pair of skates exceeds a predetermined threshold.

220. The method according to claim 218, wherein the motors are controlled in response to the sensed relative position of each skate, thereby increasing a velocity of a designated rearward one of the pair of skates when a distance between the designated rearward skate and a forward one of the pair of skates exceeds a predetermined threshold.

221. The method according to claim 217, wherein the step of motors includes coordinating velocity changes between the pair of skates.

222. The method according to claim 217, wherein the step of controlling the motors includes coordinating braking between the pair of skates.

223. The method according to claim 217, wherein the step of controlling the motors includes

maintaining velocity of the wearer with a rearward one of the pair of skates,

changing the velocity of the wearer through movement of a forward one of the pair of skate, and

coordinating velocity changes between the pair of skates.