Locomotion device on castors
AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorThierry Hilt
Life of this patent
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Abstract
A locomotion device on castors including: at least one castor mechanically connected to a sole to roll along a ground, the castor being mounted to rotate about an axis of rolling parallel to a plane of the sole and also about an axis of rotation perpendicular to the plane of the sole; a controllable electromechanical braking device configured to apply a braking torque to the castor that varies according to a braking command received; an inertial unit configured to measure a physical parameter indicative of a steering angle; and a central processing unit programmed to establish the braking command according to the physical parameter measured by the inertial unit and to transmit the established braking command to the braking device to apply to the castor a braking torque that varies according to the steering angle.
Claims12
A locomotion device with castors for moving over the ground, the device comprising:
- a footplate extending primarily in a footplate plane and on which at least one foot of a user is intended to be placed when the device is being used by the user;
- at least one castor mechanically connected to the footplate to roll over the ground, the castor being mounted to rotate about a rolling axis parallel to the plane of the footplate and also about a rotation axis perpendicular to the plane of the footplate;
- an inertial center configured to measure a physical parameter representing a turn angle, the turn angle being an angle between a longitudinal axis of the footplate and an orthogonal projection on the footplate plane of an instantaneous direction of movement of the footplate, the longitudinal axis being fixed with no degree of freedom relative to the footplate and contained in the plane of the footplate;
- a central unit programmed to establish a braking command based on the measured physical parameter and to transmit the established braking command to a controllable electromechanical braking device;
- and
- the controllable electromechanical braking device configured to exert a braking torque on the castor based on the received braking command.
Dependencies are inferred from the claim text.