# US 10,370,052 B2 · Control of a personal transporter based on user position

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- Number: US 10,370,052 B2
- Document ID: US10370052B2
- Status: Granted
- Kind: B2
- Application number: 15/989,269
- Filed: 2018-05-25
- Published: 2018-09-27
- Granted: 2019-08-06
- Earliest claimed: 2004-09-13
- Assignees: DEKA Products Limited Partnership
- Applicants: DEKA Products Limited Partnership
- Inventors: Dean Kamen; Robert R. Ambrogi; James J. Dattolo; Robert J. Duggan; J. Douglas Field; Richard Kurt Heinzmann; Matthew M. McCambridge; John B. Morrell; Michael D. Piedmonte; Richard J. Rosasco
- Web page: https://patentgrep.com/patent/US10370052B2

## CPC

- B62K 3/002: {without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners}
- A63C 17/01: Skateboards (A63C17/02 - A63C17/28 take precedence)
- A63C 17/08: single-wheel type {with single axis}
- A63C 17/12: with driving mechanisms
- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 15/2045: {for optimising the use of energy}
- B62D 37/00: Stabilising vehicle bodies without controlling suspension arrangements
- B62D 51/002: {comprising safety arrangements (safety devices for vehicle propulsion unit control B60K28/00)}
- B62D 51/02: the driver standing in the vehicle
- B62D 61/00: Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62K 1/00: Unicycles
- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0891: {specially adapted for land vehicles}
- G08B 6/00: Tactile signalling systems, e.g. tactile personal calling systems
- B60L 2200/16: Single-axle vehicles
- B60L 2200/24: Personal mobility vehicles
- B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel
- B60L 2240/18: lateral
- B60L 2240/22: Yaw angle
- B60L 2240/423: Torque
- B60L 2250/22: by presence detection
- B60L 2250/24: by lever actuation
- B60L 2260/34: Stabilising upright position of vehicles, e.g. of single axle vehicles
- B62J 45/4151: {for sensing lateral inclination of the cycle}
- B62J 45/4152: {for sensing longitudinal inclination of the cycle}
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/72: Electric energy management in electromobility
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- A63C: SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE (water skis B63B32/00, B63B34/00)
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- B62J: CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

## Claims

### Claim 1

A steerable personal transporter comprising:
a chassis;
two wheels mounted to the chassis;
two pivoting footplates, each of the pivoting footplates associated with one of the two wheels, each of the pivoting footplates sitting atop the chassis;
at least one sensor sensing the positions of the two pivoting footplates; and
a controller steering the transporter based at least on the positions.

### Claim 2 (depends on 1)

The transporter as in claim 1 further comprising:
a platform between the two pivoting footplates and the chassis, the platform sliding laterally in line with linear accelerations of the transporter.

### Claim 3 (depends on 2)

The transporter as in claim 2 further comprising:
a linear slide mechanism mounted between the platform and the chassis, the linear slide mechanism enabling the platform to slide laterally; and
blocks underlying the linear slide mechanism.

### Claim 4 (depends on 3)

The transporter as in claim 3 further comprising:
ball plungers counterbalancing the combined weight of the platform and the linear slide mechanism.

### Claim 5 (depends on 2)

The transporter as in claim 2 further comprising:
a ground rod, including linear ball bearings, mounted between the platform and the chassis, connecting the platform to the chassis.

### Claim 6 (depends on 2)

The transporter as in claim 2 further comprising:
a sensor sensing the distance the platform slides.

### Claim 7 (depends on 6)

The transporter as in claim 6 further comprising:
a measurement of shear force based at least on the distance, the steering of the transporter being based in part of the shear force.

### Claim 8 (depends on 7)

The transporter as in claim 7 wherein the foot plates are sensitive to the shear force.

### Claim 9 (depends on 1)

The transporter as in claim 1 wherein the foot plates move vertically up to about six inches.

### Claim 10 (depends on 1)

The transporter as in claim 1 further comprising:
at least two rider detect switches sensing when a rider is upon the transporter.