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US 6,807,465 B2Granted
Power assist vehicle
OwnerNathan Ulrich, Dana R. Yoergerinventors
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.
Claims7
A wheelchair comprising:
- first and second drive wheels each having an axis and a coaxial handrim for receiving a driving torque from a user;
- each drive wheel being coupled to a motor;
- 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.
1 more element
A power assist vehicle comprising:
- a drive wheel;
- input means for receiving a driving torque from a user;
- a motor;
- 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 compound between said actual velocity and said desired velocity.
2 more elements
Dependencies are inferred from the claim text.