Powered skateboard

• US 6,050,357 A
• Filed: 11/13/1997
• Issued: 04/18/2000
• Est. Priority Date: 05/31/1995
• Status: Expired due to Fees

• Current Assignee: Empower Corporation (Zap)
• Original Assignee: Empower Corporation (Zap)
• Inventors: Staelin, David H., Lang, Jeffrey H.
• Primary Examiner(s): Johnson, Brian L.
• Assistant Examiner(s): Avery, Bridget
• Application Number:
  US08/952,173
• Time in Patent Office: 887 Days
• Field of Search: 180/65.1, 180/65.5, 180/65.6, 180/180, 180/181, 180/272, 180/279, 180/284, 280/87.041, 280/87.042, 280/11.19, 280/11.27, 280/11.28
• US Class Current: 180/65.1
• CPC Class Codes: A63C 17/004 with auxiliary wheels not contacting the riding surface during steady riding
• CPC Class Codes: A63C 17/01 Skateboards A63C17/02 - A63C17/28 take precedence; rolling devices on skis A63C5/035
• CPC Class Codes: A63C 17/015 with wheels arranged in two pairs
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: A63C 17/26 with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
• 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 2240/545 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 2260/28 : Four wheel or all wheel drive
• CPC Class Codes: B60L 2260/44 : by parameter estimation
• CPC Class Codes: B60L 2270/145 : Structure borne vibrations
• CPC Class Codes: B60L 3/0046 : relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 3/0061 : relating to electrical machines
• CPC Class Codes: B60L 3/0076 : relating to braking
• 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 58/21 : having the same nominal voltage
• CPC Class Codes: B60L 58/24 : for controlling the temperature of batteries
• CPC Class Codes: B60L 7/006 : Dynamic electric braking by reversing current, i.e. plugging
• 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 skateboard including a foot support, multiple wheels mounted to the foot support, and a motor coupled to at least one of the wheels. The powered skateboard further includes an active control system having a sensor located on the skateboard 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 skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a sensor located on the skateboard;

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

the controller, 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, sending electrical signals to the motor to control the operation of the motor.

2. The powered skateboard according to claim 1, wherein the sensor detects a user'"'"'s natural skateboarding motion and the electrical signals sent from the sensor to the controller represent the user'"'"'s natural skateboarding motion.

3. The powered skateboard according to claim 2, wherein the sensor is a pressure sensor and wherein the user'"'"'s weight distribution across the sensor is used to detect the user'"'"'s natural skateboarding motion.

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

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

6. The powered skateboard according to claim 5, wherein the controller sends electrical signals to the motor causing the motor to accelerate when the sensor indicates that the user'"'"'s weight on the forward portion of the foot support falls within a predetermined range.

7. The powered skateboard according to claim 6, wherein the controller causes the motor to accelerate as a function of the amount of pressure detected by the sensor.

8. The powered skateboard according to claim 6, wherein the controller sends electrical signals to the motor causing the motor to decelerate when the sensor indicates that the user'"'"'s weight on the forward portion of the foot support is outside the predetermined range.

9. The powered skateboard according to claim 8, wherein the controller causes the motor to decelerate in inverse proportion to the amount of pressure detected by the sensor.

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

11. The powered skateboard according to claim 10, wherein the controller sends electrical signals to the motor causing the motor to decelerate when the sensor indicates that the user'"'"'s weight on the rearward portion of the foot support exceeds a predetermined threshold.

12. The powered skateboard according to claim 11, wherein the controller causes the motor to decelerate as a function of the amount of pressure detected by the sensor.

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

14. The powered skateboard according to claim 13, wherein the controller sends electrical signals to the motor causing the motor to accelerate when the pressure sensors indicate a forward distribution of the user'"'"'s weight.

15. The powered skateboard according to claim 14, wherein the controller causes the motor to accelerate as a function of the forward distribution of the user'"'"'s weight.

16. The powered skateboard according to claim 13, wherein the controller sends electrical signals to the motor causing the motor to decelerate when the pressure sensors indicate a rearward distribution of the user'"'"'s weight.

17. The powered skateboard according to claim 16, wherein the controller causes the motor to decelerate as a function of the rearward distribution of the user'"'"'s weight.

18. The powered skateboard 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 skateboard 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 sends electrical signals to the motor to prevent the motor from starting when the weight detected by the sensor falls outside a predetermined range.

20. The powered skateboard according to claim 1, wherein the sensor is a segmented pressure sensor embedded in the foot support for detecting pressure from a user'"'"'s feet.

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

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

23. The powered skateboard according to claim 2, wherein the sensor is a segmented position sensor for detecting distance between the user'"'"'s feet, the distance indicating the user'"'"'s natural skateboarding motion.

24. The-powered skateboard according to claim 23, wherein the controller sends electrical signals to the motor causing the motor to accelerate when the distance between the user'"'"'s feet is greater than a predetermined threshold.

25. The powered skateboard according to claim 24, wherein the controller causes the motor to accelerate as a function of the distance detected by the sensor.

26. The powered skateboard according to claim 23, wherein the controller sends electrical signals to the motor causing the motor to decelerate when the distance between the user'"'"'s feet is less than a predetermined threshold.

27. The powered skateboard according to claim 26, wherein the controller causes the motor to decelerate as a function of the distance detected by the sensor.

28. The powered skateboard according to claim 23, wherein the controller sends electrical signals to the motor causing the motor to accelerate when the distance between the user'"'"'s feet is less than a predetermined threshold.

29. The powered skateboard according to claim 28, wherein the controller causes the motor to accelerate as a function of the distance detected by the sensor.

30. The powered skateboard according to claim 23, wherein the controller sends electrical signals to the motor causing the motor to decelerate when the distance between the user'"'"'s feet is greater than a predetermined threshold.

31. The powered skateboard according to claim 30, wherein the controller causes the motor to decelerate as a function of the distance detected by the sensor.

32. The powered skateboard according to claim 2, wherein the sensor is an orientation sensor.

33. The powered skateboard according to claim 32, wherein the controller sends electrical signals to the motor to cause the motor to decelerate when the orientation sensor indicates that the skateboard is outside of a predetermined orientation range.

34. The powered skateboard according to claim 33, wherein the controller causes the motor to decelerate as a function of the orientation detected by the sensor.

35. The powered skateboard according to claim 32, wherein the controller controls the operation of the motor in accordance with detected predetermined patterns of skateboard orientation.

36. The powered skateboard according to claim 35, wherein one of the detected predetermined patterns of orientation causes the controller to send electrical signals to the motor to start the motor.

37. The powered skateboard according to claim 35, wherein the detected predetermined patterns of orientation indicate a plurality of operational modes according to which the controller controls the operation of the motor.

38. The powered skateboard according to claim 1, further comprising a rear braking surface mounted to the foot support, wherein the sensor is a pressure sensor and is coupled to the rear braking surface to detect pressure on the rear braking surface.

39. The powered skateboard according to claim 38, wherein the controller sends electrical signals to the motor to cause the motor to decelerate when the sensor detects pressure above a predetermined threshold.

40. The powered skateboard according to claim 39, wherein the controller causes the motor to decelerate as a function of the amount of pressure detected by the sensor.

41. The powered skateboard according to claim 38, wherein the rear braking surface is mounted to a rear portion of the foot support.

42. The powered skateboard according to claim 1, wherein the sensor is a temperature sensor and the controller increasingly limits the current provided to the motor as the temperature rises further above a threshold.

43. The powered skateboard according to claim 1, wherein the sensor is a temperature sensor and the controller sends electrical signals to the motor to prevent the motor from starting when the sensor detects a temperature below a predetermined threshold.

44. The powered skateboard according to claim 42, wherein the sensor is a temperature sensor and the temperature sensor detects an environmental temperature.

45. The powered skateboard according to claim 42, wherein the temperature sensor detects a motor temperature.

46. The powered skateboard according to claim 42, wherein the controller includes electronic components and wherein the temperature sensor detects the temperature of the electronic components.

47. The powered skateboard according to claim 42, wherein the motor is an electric motor and the skateboard further comprises a battery pack coupled to the motor for supplying power to the motor, and wherein the temperature sensor detects the temperature of the battery pack.

48. The powered skateboard according to claim 1, wherein the controller determines motor temperature as a function of motor winding resistance.

49. The powered skateboard according to claim 42, wherein the controller determines 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, and the determined motor temperature is used to limit the maximum allowed motor current.

50. The powered skateboard according to claim 1, wherein the sensor is a shock sensor.

51. The powered skateboard according to claim 50, wherein the controller sends electrical signals to the motor to cause the motor to decelerate when the shock sensor detects a shock above a predetermined threshold.

52. The powered skateboard according to claim 51, wherein the controller causes the motor to decelerate as a function of the shock detected by the sensor.

53. The powered skateboard according to claim 50, wherein the controller controls the operation of the motor in accordance with detected predetermined patterns of shocks detected by the shock sensor.

54. The powered skateboard according to claim 53, wherein one of the detected predetermined patterns of shocks causes the controller to send electrical signals to the motor to start the motor.

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

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

57. The powered skateboard according to claim 1, wherein the sensor is a segmented pressure sensor for detecting the distance between the user'"'"'s feet and the rear of the segmented sensor.

58. The powered skateboard according to claim 57, wherein the controller sends electrical signals to the motor to cause the motor to decelerate when the detected distance is less than a predetermined distance.

59. The powered skateboard according to claim 58, wherein the controller causes the motor to decelerate as a function of the distance.

60. The powered skateboard according to claim 57, wherein the controller sends electrical signals to the motor to cause the motor to accelerate when the distance is more than a predetermined distance.

61. The powered skateboard according to claim 60, wherein the controller causes the motor to accelerate as a function of the distance.

62. The powered skateboard according to claim 1, wherein the sensor is a pressure sensor for detecting a user'"'"'s lateral weight distribution.

63. The powered skateboard according to claim 62, wherein the controller sends electrical signals to the motor to cause the motor to turn one or more of the plurality of wheels in accordance with the user'"'"'s detected lateral weight distribution.

64. The powered skateboard according to claim 1, wherein the sensor is a mode switch manipulated by the user to indicate an operational mode.

65. The powered skateboard according to claim 1, wherein the sensor is a kill switch which, when manipulated by the user, causes the controller to send electrical signals to the motor to stop the motor.

66. The powered skateboard according to claim 1, wherein the control mechanism includes a plurality of operational parameters which the controller uses to control the operation of the motor.

67. The powered skateboard according to claim 66, wherein one of the plurality of operational parameters is a speed limit, and wherein the controller determines the motor angular velocity through the electrical signals received from the motor and sends electrical signals to the motor to cause the motor to decelerate if the motor angular velocity exceeds the speed limit.

68. The powered skateboard according to claim 66, wherein the plurality of operational parameters are set in accordance with a user'"'"'s skateboarding ability as detected by the sensor.

69. The powered skateboard according to claim 66, wherein the plurality of operational parameters are set in accordance with observed road conditions as detected by the sensor.

70. The powered skateboard according to claim 66, wherein the plurality of operational parameters are set in accordance with a user'"'"'s skateboarding ability in accordance with a detected motor current history and a detected motor voltage history.

71. The powered skateboard according to claim 66, wherein the plurality of operational parameters are set in accordance with observed road conditions in accordance with a detected motor current history and a detected motor voltage history.

72. The powered skateboard according to claim 66, wherein the plurality of operational parameters are set in accordance with the motor'"'"'s capabilities.

73. The powered skateboard according to claim 1, wherein the controller comprises

an upper level control mechanism, and

a lower level control mechanism,

wherein the lower level control mechanism sends electrical signals to and receives electrical signals from the motor, determines an estimated motor torque using the electrical signals from the motor, receives electrical signals from the sensor, and sends electrical signals representing the estimated motor torque and the electrical signals from the sensor to the upper level control mechanism, and

wherein the upper level control mechanism, in response to the electrical signals from the lower level control mechanism, in accordance with the control mechanism, sends electrical signals to the lower level control mechanism indicating a desired motor torque.

74. The powered skateboard according to claim 1, wherein the controller comprises

an upper level control mechanism, and

a lower level control mechanism,

wherein the lower level control mechanism sends electrical signals to and receives electrical signals from the motor, determines an estimated motor angular velocity using the electrical signals from the motor, receives electrical signals from the sensor, and sends electrical signals representing the estimated motor angular velocity and the electrical signals from the sensor to the upper level control mechanism, and

wherein the upper level control mechanism, in response to the electrical signals from the lower level control mechanism in accordance with the control mechanism, sends electrical signals to the lower level control mechanism indicating a desired motor angular velocity.

75. The powered skateboard according to claim 1, wherein the controller comprises

an upper level control mechanism, and

a lower level control mechanism,

wherein the lower level control mechanism sends electrical signals to and receives electrical signals from the motor, determines an estimated motor torque and an estimated motor angular velocity using the electrical signals from the motor, receives electrical signals from the sensor, and sends electrical signals representing the estimated motor torque and the estimated motor angular velocity and the electrical signals from the sensor to the upper level control mechanism, and

wherein the upper level control mechanism, in response to the electrical signals from the lower level control mechanism in accordance with the control mechanism, sends electrical signals to the lower level control mechanism indicating a desired motor torque, motor angular velocity, and motor angular acceleration.

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

77. The powered skateboard according to claim 76, further including a battery back-up unit electrically coupled to the computer.

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

79. The powered skateboard according to claim 1, wherein the motor is an electric motor and further comprising

a battery pack electrically coupled to the motor for supplying 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 at least one rechargeable battery.

80. The powered skateboard according to claim 1, further comprising

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

81. The powered skateboard according to claim 1, further comprising

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

82. The powered skateboard according to claim 81, wherein the communication system sends information to the external communication system to indicate a status of the powered skateboard and the external communication system sends data to the communication system to modify the control mechanism.

83. The powered skateboard according to claim 1, wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to prevent the wheels from rotating.

84. The powered skateboard according to claim 1, further comprising

a wheel locking mechanism, mechanically coupled to the plurality of wheels, wherein the wheel locking mechanism when activated prevents the wheels from rotating.

85. The powered skateboard according to claim 84, 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;

at least one wire slidably disposed within the tube; and

a mechanism for advancing the wire within the tube to prevent one of the plurality of wheels from rotating and for pulling the wire back within the tube to allow the one of the plurality of wheels to rotate.

86. The powered skateboard according to claim 1, wherein the controller, in accordance with an operational Mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to compensate for motor and drive train friction.

87. The powered skateboard according to claim 1, wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that maintains the skateboard velocity established when the user last placed the user'"'"'s full weight on the skateboard.

88. The powered skateboard according to claim 87, wherein the sensor detects when the user last placed the user'"'"'s full weight on the skateboard.

89. The powered skateboard according to claim 87, wherein the controller uses the electrical signals from the motor to determine when the user last placed the user'"'"'s full weight on the skateboard.

90. The powered skateboard 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, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with the user'"'"'s weight distribution.

91. The powered skateboard according to claim 1, wherein the sensor detects a distance between a user'"'"'s feet and wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with the distance between the user'"'"'s feet.

92. The powered skateboard according to claim 1, wherein the sensor detects the angles of a user'"'"'s feet relative to the longitudinal axis of the skateboard and wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with these relative angles of the user'"'"'s feet.

93. The powered skateboard according to claim 1, wherein the sensor detects a weight distribution across each user'"'"'s foot and wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with the weight distribution across each of the user'"'"'s feet.

94. The powered skateboard according to claim 1, wherein the sensor detects a position of a user'"'"'s front foot and a position of a user'"'"'s rear foot and wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with the positions of the user'"'"'s feet.

95. The powered skateboard according to claim 1, wherein the sensor detects an average position of a user'"'"'s feet and wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with changes in the average position of the user'"'"'s feet.

96. The powered skateboard according to claim 1, wherein the motor is an electric motor and further comprising

a battery pack electrically coupled to the motor for supplying power to the motor, wherein the battery pack contains at least one rechargeable battery and wherein excess energy supplied by a user to move the skateboard is transferred to the battery pack to recharge the at least one rechargeable battery.

97. The powered skateboard according to claim 1, further comprising

an indicator device electrically coupled to the controller, for providing information to a user.

98. The powered skateboard according to claim 97, wherein the indicator device visually displays information to the user.

99. The powered skateboard according to claim 98, wherein the indicator is a light.

100. The powered skateboard according to claim 99, wherein the light is a light emitting diode.

101. The powered skateboard according to claim 98, wherein the indicator is a liquid crystal display.

102. The powered skateboard according to claim 97, wherein the indicator device acoustically transmits information to the user.

103. The powered skateboard according to claim 97, wherein the information includes battery status.

104. The powered skateboard according to claim 97, wherein the information includes active control system error status.

105. The powered skateboard according to claim 97, wherein the information includes a violation of a predetermined speed limit.

106. The powered skateboard according to claim 1, wherein the motor is mounted to the foot support.

107. The powered skateboard according to claim 1, wherein the active control system is mounted to the foot support.

108. The powered skateboard according to claim 1, wherein the motor is an electric motor.

109. The powered skateboard according to claim 108, wherein the motor is a brushless, permanent magnet electric motor.

110. The powered skateboard according to claim 99, further comprising a battery pack electrically coupled to the motor.

111. The powered skateboard according to claim 110, wherein the battery pack is mounted to the foot support.

112. The powered skateboard according to claim 1, wherein the motor is an internal combustion engine.

113. The powered skateboard 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 gears to one of the plurality of axles.

114. The powered skateboard 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.

115. The powered skateboard according to claim 114, 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.

116. The powered skateboard according to claim 1, wherein the plurality of wheels include one front wheel 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.

117. The powered skateboard 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 one wide rear wheel rotatably coupled to a second axle which is mounted to a rear portion of the foot support through a second axle assembly.

118. The powered skateboard according to claim 1, wherein the plurality of wheels include one front wheel rotatably coupled to a first axle which is mounted to a front portion of the foot support through a first axle assembly and one wide rear wheel rotatably coupled to a second axle which is mounted to a rear portion of the foot support through a second axle assembly.

119. The powered skateboard according to claim 1, wherein the plurality of wheels include one front wheel rotatably coupled to a first axle which is mounted to a front portion of the foot support through a first axle assembly, one rear wheel rotatably coupled to a second axle which is mounted to a rear portion of the foot support through a second axle assembly, and two center wheels rotatably coupled to a third axle which is mounted to a center portion of the foot support through a third axle assembly.

120. The powered skateboard according to claim 1, further comprising

suspension mechanisms coupled to the plurality of wheels.

121. The powered skateboard according to claim 1, further comprising

a turning mechanism coupled to at least one of the plurality of wheels.

122. The powered skateboard according to claim 1, further comprising

a security device for allowing an authorized user use of the powered skateboard.

123. The powered skateboard according to claim 122, wherein the security device is a mechanical lock released with a key.

124. The powered skateboard according to claim 122, wherein the security device is an electronic key pad activated with a predetermined sequence of characters.

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

126. The powered skateboard according to claim 125, wherein the sensor is a security device for allowing an authorized user use of the powered skateboard.

127. The powered skateboard according to claim 1, wherein the sensor is an audio transducer for receiving acoustic information.

128. The powered skateboard according to claim 127, wherein the acoustic information includes an authorization code.

129. The powered skateboard according to claim 1, further comprising

a case for covering the motor and the active control system.

130. The powered skateboard according to claim 1, further comprising:

a trailer that is mechanically coupled to the foot support.

131. The powered skateboard according to claim 130, wherein the trailer is motorized and is electrically coupled to the controller.

132. The powered skateboard according to claim 1, further comprising:

a case mounted to the foot support; and

a skateboard carrying bag stored within the case.

133. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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 skateboard;

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

the controller, in response to electrical signals from the detector indicating the operational mode of the skateboard, selecting an operational mode; and

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

134. The powered skateboard according to claim 133, wherein the selected operational mode causes the controller to send electrical signals to the motor to cause the motor to prevent the wheels from rotating.

135. The powered skateboard according to claim 133, wherein the selected operational mode causes the controller to send electrical signals to the motor to cause the motor to compensate for motor and drive train friction.

136. The powered skateboard according to claim 133, wherein the selected operational mode causes the controller to send electrical signals to the motor to cause the motor to establish a motor torque that maintains the skateboard velocity established when a user last imposed the user'"'"'s full weight on the skateboard.

137. The powered skateboard according to claim 136, wherein the sensor detects when the user last imposed the user'"'"'s full weight on the skateboard.

138. The powered skateboard according to claim 136, wherein the controller uses the electrical signals from the motor to determine when the user last imposed the user'"'"'s full weight on the skateboard.

139. The powered skateboard according to claim 133, 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 selected operational mode causes the controller to send electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with the user'"'"'s weight distribution.

140. The powered skateboard according to claim 133, wherein the sensor detects a distance between the user'"'"'s feet and wherein the selected operational mode causes the controller to send electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with the distance between the user'"'"'s feet.

141. The powered skateboard according to claim 133, wherein the sensor detects a relative position of a user'"'"'s feet and wherein the controller, in accordance with an operational mode defined by the control mechanism, sends electrical signals to the motor to cause the motor to establish a motor torque that accelerates and decelerates the skateboard in accordance with the relative position of the user'"'"'s feet.

142. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a communication mechanism for communicating information about the skateboard external to the skateboard;

a controller coupled to the communication mechanism; and

the controller, in accordance with a control mechanism, sending electrical signals to the communication mechanism to cause the communication mechanism to indicate a status of the skateboard external to the skateboard.

143. The powered skateboard according to claim 142, wherein the communication mechanism is an indicator device.

144. The powered skateboard according to claim 143, wherein the indicator device visually displays information to a user.

145. The powered skateboard according to claim 144, wherein the indicator is a light.

146. The powered skateboard according to claim 145, wherein the light is a light emitting diode.

147. The powered skateboard according to claim 144, wherein the indicator is a liquid crystal display.

148. The powered skateboard according to claim 143, wherein the indicator device acoustically transmits information to a user.

149. The powered skateboard according to claim 143, wherein the information includes battery status.

150. The powered skateboard according to claim 143, wherein the information includes active control system error status.

151. The powered skateboard according to claim 143, wherein the information includes a violation of a predetermined speed limit.

152. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a communication device for communicating information about the skateboard external to the skateboard;

a controller coupled to the communication device;

the controller sending electrical signals to the communication device to cause the communication device to indicate a status of the skateboard external to the skateboard; and

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

153. The powered skateboard according to claim 152, wherein the communication device is an input/output port for connection to an input/output bus.

154. The powered skateboard according to claim 153, wherein the input/output bus is a Small Computer System Interconnect bus.

155. The powered skateboard according to claim 153, wherein the input/output port is a telephone modem.

156. The powered skateboard according to claim 153, wherein the input/output port is an acoustic telephone coupler.

157. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a sensor;

a controller coupled to receive electrical signals from the sensor; and

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

158. The powered skateboard according to claim 157, wherein the sensor is an audio transducer.

159. The powered skateboard according to claim 157, wherein the communication device is an speech recognition sensor.

160. The powered skateboard according to claim 157, wherein the communication device is a switch.

161. The powered skateboard according to claim 157, wherein the communication device is a keypad.

162. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a detector for detecting when a user last imposed the user'"'"'s full weight on the skateboard;

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

the controller, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, setting the motor torque to cause the motor to maintain a skateboard velocity established when the user last imposed the user'"'"'s full weight on the skateboard.

163. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a detector for detecting a user'"'"'s weight distribution across the foot support;

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

the controller, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, sending electrical signals to the motor to activate the motor such that the skateboard velocity is accelerated and decelerated according to the user'"'"'s weight distribution across the foot support.

164. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a segmented detector for detecting a user'"'"'s weight distribution imposed on the foot support by each of the user'"'"'s legs;

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

the controller, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, sending electrical signals to the motor to activate the motor such that the skateboard is accelerated and decelerated according to the user'"'"'s weight distribution imposed on the foot support by each of the user'"'"'s legs.

165. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a segmented detector for detecting an angle between a user'"'"'s front foot and a longitudinal axis of the skateboard and an angle between the user'"'"'s back foot and the longitudinal axis of the skateboard;

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

the controller, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, sending electrical signals to the motor to activate the motor such that the skateboard is accelerated and decelerated according to the angles between the user'"'"'s feet and the longitudinal axis of the skateboard.

166. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a segmented detector for detecting a user'"'"'s weight distribution across each of the user'"'"'s feet;

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

the controller, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, sending electrical signals to the motor to activate the motor such that the skateboard is accelerated and decelerated according to the user'"'"'s weight distribution across each of the user'"'"'s feet.

167. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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

an active control system including;

a detector for detecting a distance between the user'"'"'s feet;

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

the controller, in response to electrical signals from the detector and the motor, and in accordance with a control mechanism, sending electrical signals to the motor to activate the motor such that the skateboard is accelerated and decelerated according to the distance between the user'"'"'s feet.

168. The powered skateboard of claim 167, further comprising:

a second detector for detecting when the user'"'"'s full weight is upon the skateboard, wherein the controller, in response to electrical signals from the second detector and the motor, and, in accordance with the control mechanism, sets the motor torque to cause the motor to maintain a skateboard velocity established when the user'"'"'s full weight was last placed upon the skateboard.

169. A powered skateboard comprising:

a foot support;

a plurality of wheels rotatably mounted to the foot support;

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 skateboard;

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

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

170. The powered skateboard of claim 169, wherein the detector further detects a user-desired exercise level.