Hybrid human/electric powered vehicle
First Claim
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1. A personal transporter propelled by a user, the personal transporter comprising:
- a. a platform for supporting the user;
b. a ground-contacting module having a first ground-contacting element movable about an axis for propelling the platform with respect to an underlying surface;
c. a power train for coupling power through solely mechanical means from the user to the ground-contacting element for impelling the ground-contacting element about its axis;
d. a first sensor for sensing a value of a pitch variable of the personal transporter;
e. a powered actuator for providing torque to the ground-contacting element in addition to any torque provided by the user; and
f. a controller for governing the powered actuator based at least on the value of the pitch variable in such a manner as to maintain stable operation of the personal transporter in an operating position that would be unstable with respect to tipping in the fore-aft plane but for provision of torque to the ground-contacting element.
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Abstract
A personal transporter that provides both for propulsion by a user, and, at the same time, for dynamic stabilization by means of a powered actuator. A pitch variable such as pitch or time rate of change of pitch is sensed and used to determine the torque provided to a wheel, whether in a co-rotating or counter-rotating direction, in order to maintain stability of the transporter with respect to tipping in the fore-aft plane.
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Citations
15 Claims
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1. A personal transporter propelled by a user, the personal transporter comprising:
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a. a platform for supporting the user; b. a ground-contacting module having a first ground-contacting element movable about an axis for propelling the platform with respect to an underlying surface; c. a power train for coupling power through solely mechanical means from the user to the ground-contacting element for impelling the ground-contacting element about its axis; d. a first sensor for sensing a value of a pitch variable of the personal transporter; e. a powered actuator for providing torque to the ground-contacting element in addition to any torque provided by the user; and f. a controller for governing the powered actuator based at least on the value of the pitch variable in such a manner as to maintain stable operation of the personal transporter in an operating position that would be unstable with respect to tipping in the fore-aft plane but for provision of torque to the ground-contacting element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for propelling a personal transporter having a wheel and a power train for conveying power from a user to the wheel, the method comprising:
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a. sensing a value of a pitch variable of the personal transporter in the fore-aft plane with respect to gravity; and b. providing torque to the wheel, based at least on the value of the pitch variable of the personal transporter, in addition to a torque provided by the user through solely mechanical means, in such a manner as to maintain stable operation of the personal transporter in an operating position that would be unstable with respect to tipping in the fore-aft plane but for provision of torque to the wheel. - View Dependent Claims (11, 12, 13, 14)
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15. A method for propelling a personal transporter having wheels and a power train for conveying power from a user to the wheels, the method comprising:
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a. sensing a value of a pitch variable of the personal transporter in the fore-aft plane with respect to gravity; b. sensing a value of a rate of rotation for each wheel; and c. providing torque to the wheels, based at least on the value of the pitch variable of the personal transporter and on the values of the rates of wheel rotation, in addition to a torque provided by the user through solely mechanical means, in such a manner as to maintain stable linear operation of the personal transporter in an operating position that would be unstable with respect to tipping in the fore-aft plane but for provision of torque to the wheels.
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Specification