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Hybrid human/electric powered vehicle

  • US 7,017,686 B2
  • Filed: 06/11/2003
  • Issued: 03/28/2006
  • Est. Priority Date: 06/11/2002
  • Status: Expired due to Term
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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