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US 6,459,962 B2Granted
Power assist vehicle
AssigneeDeltaGlide, Inc.
InventorsNathan Ulrich, Dana R. Yoerger
Life of this patent
Estimating the term…
Abstract
A power-assist vehicle such as a wheelchair senses driving torque/force applied by a user through a transmission. The detected force/torque is utilized in a control system with a control map defining a desired dynamic of the vehicle and programmed with the desired mass and drag parameter.
Claims29
A gearing system for use in a motor assisted vehicle including at least a drive wheel rotatably connected to a frame comprising:
- a power input device for receiving an input force from a user;
- a first gear assembly coupling the power input device to the drive wheel and operatively associated with a transducer, the transducer being configured to output at least one signal indicative of the input force received by the power input device;
- a second gear assembly operatively associated with a motor and coupling the motor to the drive wheel;
- a sensor configured to output at least one signal indicative of a motion of either of the motor or the drive wheel;
- and
- a controller electrically connected to the sensor and to the transducer, the controller being configured to receive the output signal from the sensor and the output signal from the transducer, to compute a control signal based upon one of at least one programmed function, and to output the control signal to the motor.
3 more elements
A gearing system for use with a motor assisted vehicle including at least a drive wheel rotatably connected to a frame comprising:
- a power input device for receiving a first input force from a user to power the vehicle;
- a gear assembly operatively connecting the input device to the drive wheel;
- a motor operatively associated with the gear assembly for providing a torque to the drive wheel and thereby provide a second force to power the vehicle;
- a transducer configured to output at least one signal indicative of the first input force;
- a sensor configured to output at least one signal indicative of a motion of either of the motor or the drive wheel;
- and
- a controller electrically connected to the sensor and to the transducer, the controller being configured to receive the output signal from the sensor and the output signal from the transducer, to compute a control signal based upon one of at least one programmed function, and to output the control signal to the motor.
4 more elements
A gearing system for use with a wheelchair including at least a drive wheel rotatably connected to a frame comprising:
- a first gear assembly operatively associated with a handrim and a transducer, the transducer being configured to output at least one signal indicative of a force applied to the handrim by a user;
- a second gear assembly operatively associated with a motor;
- a sensor configured to output at least one signal indicative of a motion of either of the motor or the drive wheel;
- and
- a controller electrically connected to the sensor and to the transducer, the controller being configured to receive the output signal from the sensor and the output signal from the transducer, to compute a control signal based upon one of at least one programmed function, and to output the control signal to the motor.
2 more elements
A gearing system for use with a wheelchair including at least a drive wheel rotatably connected to a frame comprising:
- a handrim configured to receive an input force from a user for providing a first torque to the drive wheel;
- a gear assembly operatively connecting the handrim to the drive wheel for transmitting said first torque;
- a motor operatively associated with the gear assembly for providing a second torque to the drive wheel;
- a transducer configured to output at least one signal indicative of the user input;
- a sensor configured to output at least one signal indicative of a motion of either of the motor or the drive wheel;
- and
- a controller electrically connected to the sensor and to the transducer, the controller being configured to receive the output signal from the sensor and the output signal from the transducer, to compute a control signal based upon one of at least one programmed function, and to output the control signal to the motor.
4 more elements
A drive assembly for driving a drive wheel of a wheelchair, comprising:
- a handrim for the application of torque by a user;
- a handrim shaft carrying the handrim and extending coaxially through a hub of the drive wheel;
- a motor driving a driven element secured coaxially to the hub;
- a gear assembly operatively connecting the handrim shaft to the wheel hub to permit the handrim to drive the drive wheel;
- and
- a sensor coupled to the gear assembly for measuring a parameter indicative of the torque applied by the user and providing output utilized to control the motor.
3 more elements
A wheelchair comprising:
- first and second drive wheels each having an axis and a coaxial handrim for receiving a driving torque from a user;
- for each of the first and second drive wheels:
- a motor;
- and
- a transmission assembly coupling the motor to the drive wheel to permit the motor to drive the drive wheel and coupling the associated handrim to the drive wheel so as to permit the handrim to simultaneously drive the drive wheel;
- and
- a control system programmed with at least one control map defining a desired dynamic of the wheelchair and programmed with a desired mass parameter and a desired drag parameter, the control system utilizing said control map and measured values of said driving torque from said user and an actual velocity to determine a desired velocity and control the motor to reduce an error component between said actual velocity and said desired velocity.
4 more elements
A power assist vehicle comprising:
- a drive wheel;
- input means for receiving a driving torque from a user;
- a motor;
- a transmission assembly coupling the motor to the drive wheel to permit the motor to drive the drive wheel and coupling the input means to the drive wheel so as to permit the input means to simultaneously drive the drive wheel;
- and
- a control system programmed with at least one control map defining a desired dynamic of the vehicle and programmed with a desired mass parameter and a desired drag parameter, the control system utilizing said control map and measured values of said driving torque from said user and an actual velocity to determine a desired velocity and employs a single-axis velocity servo loop to control the motor to reduce an error component between said actual velocity and said desired velocity.
3 more elements
Dependencies are inferred from the claim text.