# US 12,214,853 B2 · Motor control system based upon movements inherent to self-propulsion > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,853 B2 - Document ID: US12214853B2 - Status: Granted - Kind: B2 - Application number: 18/179,359 - Filed: 2023-03-06 - Published: 2023-06-29 - Granted: 2025-02-04 - Earliest claimed: 2016-08-18 - Assignees: Medici Technologies LLC - Applicants: Medici Technologies, LLC - Inventors: Mark Ries Robinson; Elena A Allen - Web page: https://patentgrep.com/patent/US12214853B2 ## CPC - 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 - B63H 21/21: Control means for engine or transmission, specially adapted for use on marine vessels - B60L 50/20: using propulsion power generated by humans or animals - B63B 32/10: Motor-propelled water sports boards (power-driven personal watercraft B63B34/10) - B63B 32/60: Board appendages, e.g. fins, hydrofoils or centre boards - B63B 79/15: for monitoring environmental variables, e.g. wave height or weather data - B63B 79/30: for diagnosing, testing or predicting the integrity or performance of vessels - G06F 3/167: {Audio in a user interface, e.g. using voice commands for navigating, audio feedback} - B60L 2200/24: Personal mobility vehicles - B60L 2200/32: Waterborne vessels - B63H 2021/216: {using electric control means} - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/72: Electric energy management in electromobility - Y02T 90/16: Information or communication technologies improving the operation of electric vehicles - 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 - B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00) - B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract The systems and methods described herein provide hands free motor control mechanisms based on the natural and inherent movements associated with an activity of interest, and can be combined with gestures or verbal communication based upon pre-defined movements by the participant. ## Claims ### Claim 1 An apparatus for controlling the amount of propulsion assistance provided to a participant engaged in foil surfing based upon movements of the participant and environmental sensors, comprising: (a) a volitional activity sensor system configured to sense volitional activities of the participant; (b) a motor assistance determination system configured to determine an amount of motor assistance to apply, responsive to the volitional activity sensor system; (c) a transport-craft tracking system configured to detect foil activation, and; (d) a motor control system configured to energize a motor responsive to the motor assistance determination system, and to stop the motor when the transport-craft tracking system indicates that foil activation has occurred. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the volitional activity sensor system comprises an optical sensor. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the volitional activity sensor system comprises an IMU-based sensor worn by the participant. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the transport-craft tracking system comprises at least one environmental sensor configured to detect the movement of a portion of the sensor from a water environment to an air environment. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the transport-craft tracking system detects changes in motor performance associated with the propulsion system exiting the water. ### Claim 6 A method for controlling an amount of motor assistance provided to a participant during foil surfing, comprising: (a) acquiring motion information related to the participant's motions inherent to self-propulsion; (b) determining an amount of motor assistance to provide responsive to the motion information; (c) providing motor assistance according to the amount of motor assistance determined in the preceding step; (d) determining the presence of foil activation via at least one environmental sensor, and (e) stopping the motor after foil activation has been detected. ### Claim 7 (depends on 6) The method of claim 6, wherein acquiring motion information comprises acquiring motion information with an optical sensor. ### Claim 8 (depends on 6) The method of claim 6, wherein acquiring motion information comprises acquiring motion information with wearable IMU-based sensor. ### Claim 9 (depends on 6) The method of claim 6, further comprising sensing volitional activities of the participant, and wherein determining an amount of motor assistance comprises determining an amount of motor assistance responsive to the motion information and the volitional activities. ### Claim 10 (depends on 6) The method of claim 6, comprising sensing when foil activation has occurred by acquiring sensor information from an environmental sensor sensitive to the movement of a portion of the sensor from a water environment to an air environment. ### Claim 11 (depends on 6) The method of claim 6, comprising sensing when foil activation has occurred by acquiring sensor information from a motor sensor sensitive to the movement of a portion of the propulsion system from a water environment to an air environment.