# US 2019/0168102 A1 · Suspension systems for one-wheeled vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168102 A1 - Document ID: US20190168102A1 - Status: Published application - Kind: A1 - Application number: 16/025,830 - Filed: 2018-07-02 - Published: 2019-06-06 - Earliest claimed: 2017-12-05 - Assignees: Future Motion, Inc. - Applicants: Future Motion, Inc. - Inventors: Kyle Jonathan DOERKSEN; Matthew Michael O'BRIEN - Web page: https://patentgrep.com/patent/US20190168102A1 ## CPC - A63C 17/0046: {with shock absorption or suspension system} - A63C 17/08: single-wheel type {with single axis} - A63C 17/12: with driving mechanisms - B62D 51/02: the driver standing in the vehicle - B62K 1/00: Unicycles - B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider} - B62K 25/00: Axle suspensions (for vehicles in general B60G) - G05D 1/0891: {specially adapted for land vehicles} - A63C 17/01: Skateboards (A63C17/02 - A63C17/28 take precedence) - A63C 2203/12: Electrically powered or heated - A63C 2203/18: Measuring a physical parameter, e.g. speed, distance - A63C 2203/20: Shock or vibration absorbing - A63C 2203/24: Processing or storing data, e.g. with electronic chip - A63C 2203/42: Details of chassis of ice or roller skates, of decks of skateboards - A63C: SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE (water skis B63B32/00, B63B34/00) - 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) - B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A self-balancing electric vehicle may include a board having a frame, and a suspension system including at least one four-bar linkage coupling opposing end portions of a hub motor axle to the first end portion of the frame. The four-bar linkage(s) may have a first fixed link connected to the axle, a second fixed link comprising the frame, and two pivotable links joining the first fixed link to the second fixed link, such that the board is configured to be movable up and down relative to the axle. A shock absorber may be coupled to the four-bar linkage(s) and to the first end portion of the frame, such that the shock absorber is configured to damp up and down movement of the board relative to the axle. ## Claims ### Claim 1 A self-balancing electric vehicle, comprising: a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the first and second deck portions each configured to receive a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board; a wheel assembly including exactly one wheel rotatable on an axle, wherein the wheel is disposed between and extends above and below the first and second deck portions; a motor assembly configured to rotate the wheel about the axle to propel the vehicle; at least one sensor configured to measure orientation information of the board; a motor controller configured to receive orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; a suspension system comprising a pair of Watt's linkages connecting opposing end portions of the axle to the frame, each of the Watt's linkages including a central link coupled to the axle of the wheel, a first pivoting link coupled to a first end portion of the central link at a first rotating joint and coupled to the first end portion of the frame at a second rotating joint, and a second pivoting link coupled to a second end portion of the central link at a third rotating joint and coupled to the second end portion of the frame at a fourth rotating joint, such that the board is configured to be movable up and down relative to the axle; and a shock absorber having a first end coupled to the pair of Watt's linkages and a second end coupled to the board, such that the shock absorber is configured to damp movement of the board relative to the axle. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein the first end of the shock absorber is coupled to a transverse member joining the pair of Watt's linkages and the second end of the shock absorber is coupled to the board by a rocker arm. ### Claim 3 (depends on 2) The vehicle of claim 2, wherein the rocker arm is coupled to the transverse member by a linkage mechanism, such that movement of the Watt's linkages pivots the rocker arm relative to the board and changes an effective length of the shock absorber. ### Claim 4 (depends on 1) The vehicle of claim 1, wherein the board is coupled to the wheel assembly by only the suspension system. ### Claim 5 (depends on 1) The vehicle of claim 1, wherein the second rotating joint and the fourth rotating joint are disposed below the board. ### Claim 6 (depends on 5) The vehicle of claim 5, wherein the shock absorber is disposed below the board. ### Claim 7 (depends on 1) The vehicle of claim 1, wherein the first and second rotating joints of each Watt's linkage are equidistant from the axle of the wheel. ### Claim 8 A self-balancing electric vehicle, comprising: a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the first and second deck portions each configured to receive a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board; a wheel assembly including a wheel rotatable on an axle, wherein the wheel extends above and below the first and second deck portions; a motor assembly configured to rotate the wheel about the axle to propel the vehicle; at least one sensor configured to measure orientation information of the board; a motor controller configured to receive orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; a suspension system comprising a pair of Watt's linkages connecting opposing end portions of the axle to the frame, each of the Watt's linkages including a central link coupled to the axle of the wheel, a first pivoting link coupled to a first end portion of the central link at a first rotating joint and coupled to the first end portion of the frame at a second rotating joint, and a second pivoting link coupled to a second end portion of the central link at a third rotating joint and coupled to the second end portion of the frame at a fourth rotating joint, such that the board is configured to be movable up and down relative to the axle; and a shock absorber having a first end coupled to the pair of Watt's linkages and a second end coupled to the board, such that the shock absorber is configured to damp movement of the board relative to the axle. ### Claim 9 (depends on 8) The vehicle of claim 8, wherein the first end of the shock absorber is coupled to a transverse member extending between the first pivoting link of one of the Watt's linkages and the first pivoting link of the other of the Watt's linkages, and the second end of the shock absorber is coupled to the board by a rocker arm. ### Claim 10 (depends on 8) The vehicle of claim 8, wherein movement of the Watt's linkages changes an effective length of the shock absorber. ### Claim 11 (depends on 8) The vehicle of claim 8, wherein the board is coupled to the wheel assembly by only the suspension system. ### Claim 12 (depends on 8) The vehicle of claim 8, wherein the second rotating joint and the fourth rotating joint are disposed below the board. ### Claim 13 (depends on 12) The vehicle of claim 12, wherein the shock absorber is disposed below the board. ### Claim 14 (depends on 8) The vehicle of claim 8, wherein the first and second rotating joints of each Watt's linkage are equidistant from the axle of the wheel. ### Claim 15 A self-balancing electric vehicle, comprising: a board defining a plane, the board including a first end portion and a second end portion, the first and second end portions each configured to receive a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board; a wheel extending above and below the plane defined by the board; a motor assembly configured to rotate the wheel about an axle to propel the vehicle; at least one sensor configured to measure orientation information of the board; a motor controller configured to receive orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; a suspension system comprising a pair of linkages connecting opposing end portions of the axle to the board, each of the linkages including a central link coupled to the axle of the wheel, a first pivoting link coupled to a first end portion of the central link at a first rotating joint and coupled to the first end portion of the board at a second rotating joint, and a second pivoting link coupled to a second end portion of the central link at a third rotating joint and coupled to the second end portion of the board at a fourth rotating joint, such that the board is configured to be movable up and down relative to the axle; and a shock absorber having a first end coupled to each of the linkages and a second end coupled to the board, such that the shock absorber is configured to damp movement of the board relative to the axle. ### Claim 16 (depends on 15) The vehicle of claim 15, further comprising a transverse member extending between and rigidly connecting the first pivoting link of one of the linkages and the first pivoting link of the other of the linkages, wherein the first end of the shock absorber is coupled to the transverse member. ### Claim 17 (depends on 16) The vehicle of claim 16, wherein the second end of the shock absorber is coupled to the board by a rocker arm. ### Claim 18 (depends on 15) The vehicle of claim 15, wherein the shock absorber is disposed entirely on one side of the plane defined by the board. ### Claim 19 (depends on 15) The vehicle of claim 15, wherein the first and second end portions of each central link are symmetrically disposed with respect to the axle of the wheel. ### Claim 20 (depends on 15) The vehicle of claim 15, wherein the vehicle includes exactly one wheel, and the wheel extends substantially equidistantly above and below the plane defined by the board.