Variably biased multidirectional wheeled support device

Abstract

A multidirectional support device is configured to move upon a traversed surface and includes a base. A multiaxial mobility element is attached to the base and includes main and secondary rolling elements having a main rolling axis and a secondary rolling axis The main rolling element is configured to allow rolling about the main rolling axis, and the secondary rolling element is configured to allow rolling about the secondary rolling axis. The multiaxial mobility element is arranged to support the base in a first stabilized equilibrium when the base is moving on the traversed surface and supported by the multiaxial mobility element. A controlled-mobility element is configured for controlled mobility and attached to the base. In the first stabilized equilibrium, the controlled-mobility element does not impede multidirectional movement of the device; and in a second stabilized equilibrium, the controlled-mobility element engages the traversed surface, impeding the multidirectional movement.

Description

690292-2WO TITLE OF THE APPLICATION VARIABLY BIASED MULTIDIRECTIONAL WHEELED SUPPORT DEVICE CROSS-REFERENCE TO RELATED APPLICATIONS 5

[0001] This application claims the benefit of priority under 35 USC § 119(e) of U.S. Provisional Patent Application No. 63 / 649,772 filed May 20, 2024, the contents of which are incorporated herein by reference. BACKGROUND OF THE DISCLOSURE

[0002] In the field of mobility systems, omnidirectional movement is a significant area of 10 research and development, with applications ranging from robotics to recreational equipment. Traditional wheel systems often limit movement to linear or curvilinear paths, which may require complex maneuvers to achieve multidirectional navigation. Sor example, see the devices of U.S. Pat. No. 3,789,947. Omni-wheels and other similar wheel modules have been designed to allow movement of greater complexity than the linear or the curvilinear path of a wheel. These wheel 15 modules are utilized in various applications, including robotics and automated systems.

[0003] The present disclosure relates to modular wheel systems, specifically focusing on omni-wheel technology designed for dynamic omnidirectional mobility. Certain devices of the present disclosure include components such as rolling elements, multiaxial mobility elements, and controlled-mobility elements to facilitate selected controllable behavior, enabling applications 20 across various domains including recreational equipment and other conveyances. SUMMARY

[0004] In a first embodiment, a multidirectional support device is configured to move upon a traversed surface. The multidirectional support device may include: (a) a base; (b) a multiaxial mobility element attached to the base, the multiaxial mobility element including (i) a main rolling 25 element having a main rolling axis (M) and a secondary rolling element having a secondary rolling axis (S), the main rolling element being configured to allow rolling about the main rolling axis (M), and the secondary rolling element being configured to allow rolling about the secondary rolling axis (S); (ii) the multiaxial mobility element being arranged to support the base in a first stabilized equilibrium when the base is moving on the traversed surface and supported on the 1traversed surface by the multiaxial mobility element, so that the base has multidirectional mobility on the traversed surface; (c) a controlled-mobility element configured for controlled mobility and attached to the base so that (i) in the first stabilized equilibrium, the controlled-mobility element does not impede a multidirectional movement of the multidirectional support device; and (ii) in a 5 second stabilized equilibrium, the controlled-mobility element engages the traversed surface and thereby impedes the multidirectional movement of the multidirectional support device.

[0005] Advantageous refinements of the invention, which can be implemented alone or in combination, are specified in the dependent claims. In summary, the present invention includes, without limitation, the following embodiments: 10

[0006] Embodiment 1. A multidirectional support device configured to move upon a traversed surface, the multidirectional support device comprising:

[0007] (a) a base;

[0008] (b) a multiaxial mobility element attached to the base, the multiaxial mobility element including: 15

[0009] (i) a main rolling element having a main rolling axis (M) and a secondary rolling element having a secondary rolling axis (S), the main rolling element being configured to allow rolling about the main rolling axis (M), and the secondary rolling element being configured to allow rolling about the secondary rolling axis (S); and

[0010] (ii) the multiaxial mobility element being arranged to support the base in a first 20 stabilized equilibrium when the base is moving on the traversed surface and supported on the traversed surface by the multiaxial mobility element, so that the base has multidirectional mobility on the traversed surface; and

[0011] (c) a controlled-mobility element configured for controlled mobility and attached to the base so that: 25

[0012] (i) in the first stabilized equilibrium, the controlled-mobility element does not impede a multidirectional movement of the multidirectional support device; and

[0013] (ii) in a second stabilized equilibrium, the controlled-mobility element engages the traversed surface and thereby impedes the multidirectional movement of the multidirectional support device. 2

[0014] Embodiment 2. The multidirectional support device of embodiment 1, wherein in the first stabilized equilibrium, the controlled-mobility element is not engaged with the traversed surface.

[0015] Embodiment 3. The multidirectional support device of embodiment 1, wherein the 5 multiaxial mobility element includes a multiaxial wheel rotatable about a first axis, and at least one controlled-mobility element is rotatable about the first axis.

[0016] Embodiment 4. The multidirectional support device of embodiment 1, wherein the main rolling element includes one of a multidirectional wheel or a Mecanum wheel.

[0017] Embodiment 5. The multidirectional support device of embodiment 1, further 10 comprising a second multiaxial mobility element attached to the base.

[0018] Embodiment 6. The multidirectional support device of embodiment 5, wherein the second multiaxial mobility element is attached to the base such that upon a deviation from the first stabilized equilibrium, a resulting restoring force opposing the deviation or driving a return to the first stabilized equilibrium is generated. 15

[0019] Embodiment 7. The multidirectional support device of embodiment 1, wherein the main rolling element has a main rolling resistance, and the secondary rolling element has a secondary rolling resistance, and the secondary rolling resistance is different from the main rolling resistance, so that the multidirectional support device tends to move with a preference for motion relative to one of the main rolling resistance or the secondary rolling resistance. 20

[0020] Embodiment 8. The multidirectional support device of embodiment 5, wherein the second multiaxial mobility element attached to the base is configured to contact the traversed surface at a common time with the first multiaxial mobility element, and the second multiaxial mobility element has a second main rolling axis (M), and the second main rolling axis (M) is not parallel to the first main rolling axis (M), so that the multidirectional support device tends to 25 move along an a non-linear path defined by the first multiaxial mobility element and the second multiaxial mobility element.

[0021] Embodiment 9. The multidirectional support device of embodiment 7, wherein the multidirectional support device tends to move perpendicularly to the main rolling axis, in preference to moving parallel to the main rolling axis. 3

[0022] Embodiment 10. The multidirectional support device of embodiment 1, further comprising a drive unit configured to drive rotation of the main rolling element about the main rolling axis (M).

[0023] Embodiment 11. The multidirectional support device of embodiment 10, further 5 comprising a second drive unit configured to drive rotation of the secondary rolling element about the secondary rolling axis (S).

[0024] Embodiment 12. The multidirectional support device of embodiment 1, wherein a static element is displaceable along a displacement axis (D) with respect to the multiaxial mobility element to position the multiaxial mobility element so that the static element impedes 10 rotation of the multiaxial mobility element.

[0025] Embodiment 13. The multidirectional support device of embodiment 1, wherein the multiaxial mobility element is displaceable along an axis with respect to a second multiaxial mobility element to position the multiaxial mobility element so that the second multiaxial mobility element impedes rotation of the secondary rolling element of the multiaxial mobility 15 element.

[0026] Embodiment 14. The multidirectional support device of embodiment 1, wherein the multidirectional support device has a longitudinal axis and includes the controlled-mobility element disposed on a first side of the longitudinal axis and a second controlled-mobility element disposed on a second side of the longitudinal axis so that if the multidirectional support device 20 base leans to the first side or to the second side of the longitudinal axis sufficiently, the controlled-mobility device or the second controlled-mobility device engages the traversed surface, thereby reducing a multidirectional movement of the multidirectional support device.

[0027] Embodiment 15. The multidirectional support device of embodiment 4, wherein the base has dimensions and characteristics such that the multidirectional support device simulates or 25 mimics a stability and a turning behavior of one of a rideable board-sport device.

[0028] Embodiment 16. The multidirectional support device of embodiment 4, wherein the base has dimensions and characteristics such that the multidirectional support device is appropriately predisposed for functionality as recreational equipment.

[0029] Embodiment 17. The multidirectional support device of embodiment 1, wherein: 30

[0030] the base has attached thereto a plurality of controlled-mobility elements positioned so that depending of a degree of deviation from horizontal, one of a first subset or second subset of 4the controlled-mobility elements contacts the traversed surface, with the first subset providing a first radius of curvature to a path of the multidirectional support device, and the second subset providing a second radius of curvature to the path of the multidirectional support device.

[0031] Embodiment 18. The multidirectional support device of embodiment 1, wherein the 5 base includes binding mounts for attaching bindings to secure a user to the multidirectional support device.

[0032] Embodiment 19. The multidirectional support device of embodiment 5, further comprising:

[0033] a second multiaxial mobility element attached to the base, 10

[0034] wherein the multiaxial control element is disposed at a front-end portion of the base and affixed a subbase, the subbase being pivotable or rotatable with respect to the base; and

[0035] wherein the subbase is affixed to a handlebar projecting upwardly from the base to allow the subbase and the multiaxial control element attached thereto to be pivoted or rotated with respect to the base. 15

[0036] Embodiment 20. The multidirectional support device of embodiment 1, wherein the base further comprises:

[0037] a flexing region rendering the multidirectional support device flexible;

[0038] a side-cut radius, the side-cut radius varying based on flexing of the base due to a force imposed by a user; 20

[0039] binding mount features;

[0040] a plurality of multi-axial mobility elements arranged to provide similar support relative to traditional snowboard base surface and traversed surface relationship;

[0041] minimized multidirectional friction resisting motion;

[0042] a plurality of controlled-mobility elements arranged to provide similar dynamic 25 mobility; influence relative to traditional snowboard-edge and traversed surface relationship;

[0043] generation of friction for resisting motion for sliding, slowing, or stopping;

[0044] traction directed by plurality of contact points (sliding, turning, ‘carving’); or

[0045] variable geometry relating to variable performance characteristics (widely varying designs and implementations). 5

[0046] Embodiment 21. The multidirectional support device of embodiment 1, The multidirectional support device of embodiment 1, wherein the base is configured with characteristics providing similar support to that provided by a snow ski:

[0047] a flexing region rendering the multidirectional support device flexible; 5

[0048] a side-cut radius, the side-cut radius varying based on flexing of the base due to a force imposed by a user;

[0049] binding mount features;

[0050] a plurality of multi-axial mobility elements arranged to provide similar support relative to traditional snow ski and traversed surface relationship; 10

[0051] minimized multidirectional friction resisting motion;

[0052] a plurality of controlled-mobility elements arranged to provide similar dynamic mobility; influence relative to traditional snow-ski-edge and traversed surface relationship;

[0053] generation of friction for resisting motion for sliding, slowing, or stopping;

[0054] traction directed by plurality of contact points (sliding, turning, ‘carving’); or 15

[0055] variable geometry relating to variable performance characteristics (widely varying designs and implementations).

[0056] Embodiment 22. A multidirectional support system comprising:

[0057] a first multidirectional support system component, the first multidirectional system component being a multidirectional support device according to embodiment 1; and 20

[0058] a second multidirectional support system component, the second multidirectional system component being a multidirectional support device according to embodiment 1.

[0059] Embodiment 23. The multidirectional support system of embodiment 22, wherein the first multidirectional support system component is configured to attach to a first lower limb of a user, and 25

[0060] wherein the second multidirectional support system component is configured to attach to a second lower limb of a user. 6BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0061] The following description of the disclosure will be better understood when read in conjunction with the appended drawings. However, the disclosure is not limited to the precise 5 arrangements and instrumentalities shown. In the drawings:

[0062] Fig.1 is a perspective view of a first device of the present disclosure;

[0063] Fig.2 is an exploded partial view of the device of Fig.1;

[0064] Fig.3 is a front elevational partial view of the device of Fig.1;

[0065] Fig.4 is a side elevational view of the device of Fig.1; 10

[0066] Fig. 5 is a side elevational view of the device of Fig. 1 shown in a first stabilized equilibrium on a traversed surface;

[0067] Fig. 6 is a side elevational view of the device of Fig. 1 shown in a second stabilized equilibrium on a traversed surface;

[0068] Fig. 7 is a front elevational view of the device of Fig. 1 shown in a first stabilized 15 equilibrium on a traversed surface;

[0069] Fig.8 is a front elevational view of the device of Fig.1 shown in a second stabilized equilibrium on a traversed surface;

[0070] Fig.9 is a perspective view of a second device of the present disclosure;

[0071] Fig.10 is top elevational view of the device of Fig.9; 20

[0072] Fig.11 is a perspective view of a third device of the present disclosure

[0073] Fig.12 is a perspective view of a fourth device of the present disclosure

[0074] Fig.13 is a side elevational view of the device of Fig.12;

[0075] Fig.14 is a perspective view of a fifth device of the present disclosure

[0076] Fig.15 is a front elevational view of the device of Fig.14 shown in a first stabilized 25 equilibrium on a traversed surface;

[0077] Fig.16 is a front elevational view of the device of Fig.14 shown in a second stabilized equilibrium on a traversed surface;

[0078] Fig.17 is a top plan view of a longitudinal half-portion of the device of Fig.14;

[0079] Fig.18 is a partial view of a longitudinal half-portion of the device of Fig.14; 30

[0080] Fig.19 is a front elevational view of half-portion of the device of Fig.14 shown in a first stabilized equilibrium on a traversed surface; 7

[0081] Fig.20 is a front elevational view of the half-portion of the device of Fig.14 shown in a second stabilized equilibrium on a traversed surface;

[0082] Fig.21 is an upper perspective view of the half-portion of the device of Fig.14 shown with the device of Fig.14 in a first stabilized equilibrium on a traversed surface; 5

[0083] Fig.22 is an upper perspective view of the half-portion of the device of Fig.14 shown with the device of Fig.14 in a second stabilized equilibrium on a traversed surface;

[0084] Fig.23 is a perspective view of a sixth device of the present disclosure;

[0085] Fig.24 is a front elevational view of the device of figure 23;

[0086] Fig.25 is a perspective view of a seventh device of the present disclosure; 10

[0087] Fig.26 is a perspective view of an eighth device of the present disclosure;

[0088] Fig.27 is a front elevational view of the device of Fig.26;

[0089] Fig.28 is a perspective view of a tenth device of the present disclosure;

[0090] Fig.29 is a side elevational view of the device of Fig.28; and

[0091] Fig.30 is a front elevational view of the device of Fig.28 shown in a first non-braking 15 configuration; and

[0092] Fig.31 is a front elevational view of the device of Fig.28 shown in a second braking configuration. DETAILED DESCRIPTION

[0093] Certain terminology is used in the following description for convenience only and is 20 not limiting. The words “right,” “left,” “lower,” and “upper” designate directions in the drawings to which reference is made. The words “inner” and “outer” refer to directions toward and away from, respectively, the geometric center of an object and designated parts thereof. Unless specifically set forth otherwise herein, the terms “a,” “an,” and “the” are not limited to one element but instead should be read as meaning “at least one.” “At least one” may occasionally be used for 25 clarity or readability, but such use does not change the interpretation of “a,” “an,” and “the.” Moreover, the singular includes the plural, and vice versa, unless the context clearly indicates otherwise. “Including” as used herein means “including but not limited to.” The word “or” is inclusive, so that “A or B” encompasses A and B, A only, and B only. The terms “about,” “approximately,” “generally,” “substantially,” and like terms used herein, when referring to a 30 dimension or characteristic of a component, indicate that the described dimension / characteristic is 8not a strict boundary or parameter and does not exclude minor variations therefrom that are functionally similar. At a minimum, such references that include a numerical parameter would include variations that, using mathematical and industrial principles accepted in the art (e.g., rounding, measurement or other systematic errors, manufacturing tolerances, etc.), would not vary 5 the least significant digit thereof. “Multidirectional movement” refers to movement by a multiaxial mobility element in a direction parallel to a main rolling axis of the multiaxial mobility element—that is, movement in a direction transverse to a main rolling direction of movement created by rolling the multiaxial mobility element about a main rolling axis thereof.

[0094] In the present disclosure, “ side-cut radius” refers to the resulting radius defined by the 10 orientation and location of mobility elements. In terms of a skateboard, “side-cut radius” is the variable relative angle of the wheels axes that creates and defines the side-cut radius. In terms of snow sports an actual cut radius along the length of the base defines side-cut radius, which in turn defines or influences the characteristics of interaction with the traversed surface. For purposes of this disclosure, the phrase "recreational equipment" shall refer to any apparatus, system, or device 15 employed in leisure, sporting, or athletic activities, intended for participant amusement, exercise, competition, or enjoyment. Such equipment explicitly encompasses devices used in board sports, ski sports, skate sports, scooter sports, and extends to analogous or related sporting and leisure activities involving any form of wheeled, sliding, rolling, gliding, balancing, steering, propulsion- assisting, gravity-assisting, or similarly functional components, mechanisms, or structures. 20

[0095] Referring to Figs. 1-8 of the drawings in detail, wherein like numerals indicate like elements throughout, Fig.1 is a perspective view of a multidirectional support device 100. The multidirectional support device 100 is configured to move upon a traversed surface 104 (Figs.5- 8). The multidirectional support device 100 includes a base 102 with mounting holes, which may be located on a top surface thereof as shown. A multiaxial mobility element 130 is attached to the 25 base 102. The multiaxial mobility element 130 includes a main rolling element 160 having a main rolling axis M and a secondary rolling element 190, supported on a shaft 192 as illustrated, having a secondary rolling axis S.

[0096] The main rolling element 160 is configured to allow rolling about the main rolling axis M, and the secondary rolling element 190 is configured to allow rolling about the secondary rolling 30 axis S. In the depicted embodiment of Figs. 1-8, a plurality of elements of the same type as secondary rolling element 190 appear. Each secondary rolling element 190 has its own secondary 9rolling axis S, although only one such axis is specified in the drawings. In the illustrated embodiment, each secondary rolling axis S may lie in a plane perpendicular to the main rolling axis M.

[0097] The multiaxial mobility element 130 is arranged to support the base 102 in a first 5 stabilized equilibrium when the base 102 is moving on the traversed surface 104 and supported on the traversed surface 104 by the multiaxial mobility element 130, as shown in Figs.5 and 7. In the first stabilized equilibrium, the base 102 has multidirectional mobility on the traversed surface 104 by virtue of the rolling of the main rolling element 160 about the main rolling axis M and / or rolling of the secondary rolling axis S. 10

[0098] A controlled-mobility element 220 is configured for controlled mobility and attached to the base 102 so that in the first stabilized equilibrium, as shown in Figs.5 and 7, the controlled- mobility element 220 does not impede a multidirectional movement of the multidirectional support device 100; in the illustrated embodiment, this is so because the controlled-mobility element 220 is not engaged with the traversed surface 104. The first stabilized equilibrium in the illustrated 15 embodiment constitutes a relatively balanced state, in which the multiaxial mobility element 130 supports the base 102, without assistance from the controlled-mobility element 220.

[0099] In a second stabilized equilibrium, as shown in Figs.6 and 8, the controlled-mobility element 220 engages the traversed surface 104 and thereby inhibits the multidirectional movement of the multidirectional support device 100. The multidirectional movement of the multidirectional 20 support device 100 is inhibited due to the interaction between the controlled-mobility element 220, typically a standard wheel, which may have a tapered face 222, and the traversed surface 104. When the multidirectional support device 100 transitions from the first stabilized equilibrium to the second stabilized equilibrium, interaction between the controlled-mobility element 220 and the traversed surface 104 controls and determines the behavior and path of the multidirectional support 25 device 100. As a result, a user or rider, by controlling a vertical orientation of the user or rider and hence an orientation of the multiaxial mobility element 130, and / or by controlling the amount of force imposed on the controlled-mobility element 220, can cause a transition from the first stabilized equilibrium with a relatively higher degree of multidirectional movement, to the second stabilized equilibrium, with multidirectional movement impeded and either reduced or eliminated 30 entirely (and replaced by movement controlled by the controlled-mobility element 220). 10

[0100] In the embodiment of Figs.1-8, the multiaxial mobility element 130, which as depicted is a multiaxial wheel, includes a support frame 132 and rotatable about a first axis M. The controlled-mobility element 220 is rotatable about second axis M2 oriented parallel to the first axis M. The main rolling element 160, which as shown includes a hub 162 supported on a shaft 164 5 by bearings 166, has a main rolling resistance, and the secondary rolling element 190 has a secondary rolling resistance, and the secondary rolling resistance is different from the main rolling resistance, so that the multidirectional support device 100 may to move perpendicularly to the main rolling axis M, in preference to moving parallel to the main rolling axis M, or in another manner as may be selected by the relative values of the main rolling resistance and the secondary 10 rolling resistance. For example, the secondary rolling resistance may be greater than the main rolling resistance, so that the multidirectional support device 100 may tend to move perpendicularly to the main rolling axis M (that is, forward), in preference to moving parallel to the main rolling axis M (that is, sideways). As a result, the multidirectional support device 100 has a natural bias toward movement forward via rotation of the main rolling element 160, while 15 also having the ability to provide sideways movement via rotation of the secondary rolling element 190 (or the plurality thereof).

[0101] Except as otherwise discussed below, the elements of the alternative embodiments of support devices are substantially similar to, or substantially identical to, corresponding elements of the multidirectional support device 100. Unless described or shown otherwise, such 20 substantially identical or substantially similar elements have similar or identical characteristics to elements having reference numbers similar to those discussed with respect to the multidirectional support device 100, but with each such reference number increased by a multiple of 1000.

[0102] In any embodiment of a multidirectional support device disclosed herein, wherein the main rolling element may include one of a multidirectional wheel 1250 or a Mecanum wheel—for 25 example, the Mecanum wheel disclosed in U.S. Pat. No.3,876,255 and / or as shown in Figs 9-10 as element 1250.

[0103] In any embodiment, a multidirectional support device may have a second multiaxial mobility element is attached to the base such that upon a deviation from the first stabilized equilibrium, the second multiaxial mobility element provides a restoring force opposing the 30 deviation or driving a return to the first stabilized equilibrium. 11

[0104] In any embodiment, a multidirectional support device 100, further including a drive unit 5310 configured to drive rotation of the main rolling element 160 about the main rolling axis M. A drive unit may include an electric motor, a fuel-powered engine, a mechanical battery, or other suitable power source. A first drive unit and a second drive unit may include two devices 5 driven by power takeoffs (such an input shafts) connected to a common power source of any of the types disclosed herein.

[0105] In certain embodiments, a multidirectional support device may include a longitudinal axis and may have a first controlled-mobility element 220 disposed on a first side of the longitudinal axis and a second controlled-mobility element 220 disposed on a second side of the 10 longitudinal axis so that if the multidirectional support device (and in particular the base thereof) leans to the first side or to the second side of the longitudinal axis sufficiently, the controlled- mobility device or the second controlled-mobility device engages the traversed surface 104, thereby reducing a multidirectional movement of the multidirectional support device. For example, see the multidirectional support device 2100, multidirectional support device 3100, and 15 the multidirectional support device 4100.

[0106] In any embodiment of a multidirectional support device, the base may have dimensions and characteristics such that the multidirectional support device 100 is appropriately predisposed for functionality as recreational equipment. In any embodiment, a multidirectional support device may have dimensions and characteristics such that the multidirectional support device simulates 20 or mimics the stability and turning behavior of one of a rideable board-sport device such as a snowboard, ski, skate, or the like. In any embodiment, a multidirectional support device may be configured to provide one or more of the following characteristics: flexing regions rendering the multidirectional support device flexible; variable side-cut radius; variable binding mount features; a plurality of multi-axial mobility elements arranged to provide similar support relative to the25 traversed surface; minimized multidirectional friction resisting motion; a plurality of controlled- mobility elements arranged to provide similar dynamic mobility; influence relative to traditional snowboard-edge and traversed surface relationship or a similar such relationship; generation of friction for resisting motion for sliding, slowing, or stopping; traction directed by plurality of contact points sliding, turning, 'carving'; or selected geometry relating to desired performance 30 characteristics widely varying designs and implementations. See, for example, the multidirectional support device 2100, the multidirectional support device 3100, or the 12multidirectional support device 4100. In the present disclosure, as noted above, side-cut radius refers to the resulting radius defined by the orientation and location of mobility elements. In terms of a skateboard, it is the variable relative angle of the wheels axes that creates and defines, the side-cut radius. In terms of snow sports an actual cut radius along the length of the base defines 5 side-cut radius, which in turn defines or influences the characteristics of interaction with the traversed surface.

[0107] In any embodiment, a multidirectional support device 100, wherein the base 102 is configured to provide one or more of the following characteristics to provide similar support to that provided by a snow ski, snow skate, or other snow-riding equipment:: flexing regions 10 rendering the multidirectional support device flexible; variable side-cut radius; variable binding mount features; a plurality of multi-axial mobility elements arranged to provide similar support relative to traditional snow ski or other snow-riding equipment and traversed surface relationship; minimized multidirectional friction resisting motion; a plurality of controlled-mobility elements arranged to provide similar dynamic mobility; influence relative to traditional snowboard-edge 15 and traversed surface relationship; generation of friction for resisting motion for sliding, slowing, or stopping; traction directed by plurality of contact points sliding, turning, 'carving'; or variable geometry relating to variable performance characteristics widely varying designs and implementations.

[0108] A multidirectional support system may be formed of a plurality of multidirectional 20 support devices. For example, a multidirectional support system may include a first multidirectional support system component and a second multidirectional support system component, each as disclosed herein. Thee first multidirectional support system component may be configured to attach to a first lower limb of a user, and the second multidirectional support system component is configured to attach to a second lower limb of a user, and the manner of 25 conventional skis, skates, and other comparable devices.

[0109] Fig. 9 and 10 are detailed views of a multiaxial mobility element 1130 for a multidirectional support device. The multiaxial mobility element 1130 includes a support frame 1132 and Mecanum wheel 1250. Other omnidirectional wheels could be substituted for the Mecanum wheel 1250. The Mecanum wheel 1250 is configured to rotate about a main rolling axis 30 (M) for movement across a traversed surface. The multiaxial mobility element 1130 comprises several of a secondary rolling element 1190, as shown. The secondary rolling element 1190 is 13mounted on a secondary-rolling-element shaft 1192, allowing the secondary rolling element 1190 to rotate about a secondary axis S. Note that each secondary-rolling-element shaft 1192 is angled with respect to the main rolling axis M, which biases the multiaxial mobility element 1130 to move at an angle to the main rolling axis M. 5

[0110] In the device of Figs. 9 and 10, the controlled-mobility element 1220 combines with the multiaxial mobility element 1130 to provide selected behavior and interaction with the traversed surface, as disclosed herein. The controlled-mobility element 1220, featuring a tapered face 1222, is designed to engage a traversed surface when oriented to make contact therewith, thereby reducing the component of multidirectional movement parallel to the main rolling axis M 10 (sideways).

[0111] Additionally, the Mecanum wheel 1250 is shown, characterized by its angled rollers, which enable omnidirectional movement. This wheel design allows the device to move laterally, forward, and backward.

[0112] Fig.11 shows a multidirectional support device 2100, which is configured to facilitate 15 movement upon a traversed surface. The device comprises a base 2102, which serves as the primary structural component supporting other elements. The base 2102 includes several mounting holes 2104, which may serve as binding mounts providing a selection of locations for attaching bindings or other elements to the base 2102. Attached to the base 2102 is a multiaxial mobility element 2130, which provides the device with enhanced multidirectional mobility. This 20 element includes a main rolling element 2160 and a secondary rolling element 2190, both of which contribute to the device's ability to roll about their respective axes, denoted as M. The secondary rolling element 2190 (several appear in Fig. 11) has a secondary axis S, just as the secondary rolling element 190 has in Fig. 1.. In any embodiment of a multidirectional support device disclosed herein, a second multiaxial mobility element may be attached to the base, as shown with 25 the two main rolling elements 2160 in Fig.11.

[0113] A main rolling element 2160 is positioned at each end of the base 2102. A secondary rolling element 2190 (Fig. 11 shows a plurality thereof) is also integrated into each multiaxial mobility element 2130, providing additional rolling capabilities and contributing to the overall stability and maneuverability of the device. 30

[0114] Additionally, the multidirectional support device 2100 includes a controlled-mobility element in the form of a control wheel 2220. The controlled-mobility element 2220 is configured 14to engage with a traversed surface selectively, modulating the movement characteristics of the multidirectional support device 2100 selectively. The controlled-mobility element 2220 a have a tapered face control wheel 2222 for interacting with the traversed surface.

[0115] The configuration of the multidirectional support device 2100, with its combination of 5 rolling and controlled-mobility elements, enables it to achieve a first stabilized equilibrium where the controlled-mobility element 2220 is not engaged with the surface. This setup allows omnidirectional movement that may then be impeded, reduced, or regulated by placing the controlled-mobility element 2220 and contact with the traversed surface and by controlling (by the user’s distribution of body weight) the amount of force with which the controlled-mobility element 10 2220 contacts the traversed surface.

[0116] Figs.12 and 13 shows a multidirectional support device 3100, which is configured to facilitate movement along a non-linear path defined by the orientation of a plurality of multiaxial mobility elements 3130. The device comprises a base 3102 that serves as the foundational structure. The base 3102 includes flexing regions 3104, which are regions where the base 3102 15 has a reduced stiffness (including reduced stiffness in bending) or a greater flexibility due to contouring, material, or other physical changes leading to the reduced stiffness. Attached to the base 3102 are several multiaxial mobility elements 3130. The multiaxial mobility elements 3130 on the near side of the longitudinal axis L in the drawings have respectively a main rolling axis M, a second main rolling axis M2, and a third main rolling axis M3. 20

[0117] The multidirectional support device 3100 further includes secondary rolling elements 3190, which are integrated with the multiaxial mobility elements 3130 and operate in the fashion of similarly designated elements such as element 190 described above. A controlled-mobility element 3220 in the form of a wheel is also present in each multiaxial mobility element 3130, with a tapered face 3222 aiding in directing movement and providing stability during operation. The 25 combination of these components allows the multidirectional support device 3100 to achieve a controllable degree of maneuverability based on the degree to which the controlled-mobility elements 3220 bear against a traversed surface.

[0118] Figs.14-22 shows a multidirectional support device 4100, which comprises a base 4102 and multiple multiaxial mobility elements 4130. The base 4102 serves as the foundational structure 30 to which the multiaxial mobility elements 4130 are attached. In the multidirectional support device 4100, the second multiaxial mobility element 4130 attached to the base 102 is configured to 15contact the traversed surface 104 at the same time as the first multiaxial mobility element 4130, and the second multiaxial mobility element 4130 has a second main rolling axis M2, and the second main rolling axis M2 is not parallel to the first main rolling axis M, so that the multidirectional support device 4100 tends to move along an a non-linear path defined by the first multiaxial 5 mobility element 4130 and the second multiaxial mobility element 4130. The multidirectional support device 4100 may include more than two multiaxial mobility element 4130, and each multiaxial mobility element 4130 may have a distinct main rolling axis M. The multidirectional support device 4100 as illustrated has three of the element multiaxial mobility element 4130 on each side of a longitudinal axis L. For clarity, the multidirectional support device 4100 is shown 10 in a partial view omitting half the device via a longitudinal section. However, the views are not designed to depicted the internals of the multidirectional support device 4100 as in a typical section. Instead, the views of Figs.17-18 and 20-22 allow for a clearer depiction of the fact that the three axes M1, M2, and M3 are not parallel and instead are perpendicular to different points of a curved side 4104 of the base 4102. 15

[0119] A base of a multidirectional support device may have attached thereto a plurality of controlled-mobility elements positioned so that depending of a degree of deviation from horizontal, one of a first subset or second subset of the controlled-mobility elements contacts the traversed surface, with the first subset providing a first radius of curvature to a path of the multidirectional support device, and the second subset providing a second radius of curvature to 20 the path of the multidirectional support device.

[0120] Turning to Figs. 15-16, 19-20 (illustrating the multiaxial mobility element 4130, omitting the base 4102), and 21-22, the multidirectional support device 4100 is partially shown in a first stable equilibrium in Figs.15, 19, and 21 and in a second stable equilibrium in Figs.16, 20, and 22. The multiaxial mobility element 4130 is arranged to support the base 4102 in a first 25 stabilized equilibrium when the base 4102 is moving on the traversed surface 104 and supported on the traversed surface 104 by the multiaxial mobility element 4130, as shown in Figs.15 and 19. In the first stabilized equilibrium, the base 4102 has multidirectional mobility on the traversed surface 104 by virtue of the rolling of the main rolling element 4160 about the main rolling axis M and / or rolling of the secondary rolling elements 4190 about their respective secondary rolling 30 axes. In a second stabilized equilibrium, as shown in Figs. 16 and 20, the controlled-mobility element 4220 engages the traversed surface 104 and thereby inhibits (reduces or eliminates 16entirely) the multidirectional movement of the multidirectional support device 4100 parallel to the main rolling axis M. The multidirectional movement of the multidirectional support device 4100 is inhibited due to the interaction between the controlled-mobility element 4220, typically a standard wheel, which may have a tapered face 4222, and the traversed surface 104. When the 5 multidirectional support device 4100 transitions from the first stabilized equilibrium to the second stabilized equilibrium, interaction between the controlled-mobility element 4220 and the traversed surface 104 controls and determines the behavior and path of the multidirectional support device 4100. As a result, a user or rider, by controlling a vertical orientation of the user or rider and hence an orientation of the multiaxial mobility element 4130, and / or by controlling the amount of force 10 imposed on the controlled-mobility element 4220, can cause a transition from the first stabilized equilibrium with a relatively higher degree of multidirectional movement, to the second stabilized equilibrium, with multidirectional movement impeded and either reduced or eliminated entirely (and replaced by movement controlled by the controlled-mobility element 4220).

[0121] Fig. 17 is an upper plan view, and Fig. 18 is an upper perspective view, of the 15 multidirectional support device 4100. As noted above, the three axes M1, M2, and M3 of the multidirectional support device 4100 are not parallel and instead are perpendicular to different points of a curved side 4104 of the base 4102. Fig.17 shows the multidirectional support device 4100 in a first stabile equilibrium, while Fig.18 shows the multidirectional support device 4100 in a second stabile equilibrium. 20

[0122] Fig. 23 shows a perspective view of a multidirectional support device 5100. The multidirectional support device 5100 as shown includes a drive unit 5310 configured to drive rotation of the main rolling element 5160 about the main rolling axis M. A drive unit may include an electric motor, a fuel-powered engine, a mechanical battery, or other suitable power source. A first drive unit or a second drive unit on a multidirectional support device may include two devices 25 driven by power takeoffs (such an input shafts) connected to a common power source of any of the types disclosed herein. The multidirectional support device 5100 may further include a second drive unit 5310 (with both being attached to a common base as disclosed herein), with the second drive unit configured to drive rotation of the secondary rolling element 5190 about the secondary rolling axis S. 30

[0123] The multidirectional support device 5100 incorporates a multiaxial mobility element 5130, which facilitates movement in multiple directions as described above. The drive unit 5310 17in the form of an electric drive motor is positioned adjacent to the mobility element 5130, providing the necessary power for operation. Wiring 5312 is connected to the drive motor 5310 to provide power thereto. Fig. 24 is a side view of the multidirectional support device multidirectional support device 5100. A drive shaft 5314 connects the drive unit 5310 to the multiaxial mobility 5 element 5130 to drive the main rolling element 5160.

[0124] Fig. 25 shows a multidirectional scooter-type support device 6100, which has the general arrangement of a scooter, but supported by multiaxial mobility elements 6130. For purposes of this disclosure, “scooter” or "scooter sports" or “scooter-like” shall encompass all athletic or recreational activities utilizing equipment characterized by at least one foot-supporting 10 platform integrated with a handlebar assembly and wheels or rolling elements, upon which participants stand or otherwise position themselves while propelling, balancing, steering, and maneuvering. Such activities explicitly include traditional scootering, snow scootering, and analogous activities employing similar equipment arrangements or functional characteristics.

[0125] The multidirectional support device 6100 comprises a base 6102, which serves as the 15 primary structural component supporting the other elements. Attached to the base 6102 is a handlebar stem 6106, which extends upward and connects to a handlebar crossbar 6108, allowing for user control and maneuverability.

[0126] Additionally, the device features controlled-mobility elements 6220, which are integrated into the multiaxial mobility elements 6130. These controlled-mobility elements 6220 20 are configured to engage with a traversed surface to control inhibit multiaxial mobility in the manner disclosed above.

[0127] In the multidirectional support device 6100, which takes the form of a scooter-like conveyance, a static element 6114 is displaceable along a displacement axis D with respect to the multiaxial mobility element 6130 to position the multiaxial mobility element 6130 so that the static 25 element 6114 reduces impedes rotation of the multiaxial mobility element 6130.

[0128] In the multidirectional support device 6100, the base 6102 is configured to provide one or more of the following characteristics to provide scooter-like conveyance: flexing regions rendering the multidirectional support device flexible; variable side-cut radius based on flexing of the base 6102; variable binding mount features; a plurality of multi-axial mobility elements 30 arranged to provide similar support scooter-like movement and control of the base 6102 upon a traversed surface; minimized multidirectional friction resisting motion; a plurality of controlled- 18mobility elements arranged to provide similar dynamic mobility; influence relative to traditional snowboard-edge and traversed surface relationship; generation of friction for resisting motion for sliding, slowing, or stopping; traction directed by plurality of contact points sliding, turning, 'carving'; or variable geometry relating to variable performance characteristics widely varying 5 designs and implementations.

[0129] Turning to Figs.26-27, the illustration depicts a multidirectional support device 9100. The device comprises a base 9102, which serves as the central structural component. Attached to the base 9102 are two footrests 9110, positioned on either side of the base 7102. The multiaxial mobility element 9130 is centrally located and is sufficiently wise to aid in balancing the base 10 7102. The multiaxial mobility element 7130 includes a secondary rolling element 9190, which has characteristics and functions comparable to analogous elements disclosed above. Additionally, a controlled-mobility element 9220 has characteristics and functions comparable to analogous elements disclosed above.

[0130] Figs.28-31 shows a multidirectional support device 8100, which has a base 8102 and 15 a multiaxial mobility element 8130 analogous to those described above. The multiaxial mobility element 8130 includes main rolling element 8160, secondary mobility elements 8190, and a controlled-mobility element 8220 with a tapered face 8222.

[0131] While specific and distinct embodiments have been shown in the drawings, various individual elements, or combinations of elements from the different embodiments may be 20 combined with one another while in keeping with the spirit and scope of the present disclosure. Thus, an individual feature described herein only with respect to one embodiment should not be construed as being incompatible with other embodiments described herein.

[0132] It will be appreciated by those skilled in the art that various modifications and alterations could be made to the disclosure above without departing from the broad inventive 25 concepts thereof. Some of these have been discussed above and others will be apparent to those skilled in the art. It is understood, therefore, that this invention is not limited to the particular embodiments disclosed, but it is intended to cover modifications within the spirit and scope of the present disclosure. 19APPENDIX 201 2 OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM on the overall system or individual elements with a vector of force translated perpendicularly to the linear direction of motion. - Monodirectional Mobility Element: Any element which functions to enable monodirectional FIELD OF INVENTION mobility of an overall system. mance e of this an and / or vative the cluded 4215 6- Title: Mono-Directional Wheel Embodiment 3 - Title: Single Body Frame Embodiment 5- Drawing Number: MW-3 - Drawing Number: F-5Fig.30 Monodirectional Wheel Example 4 Fig.42 Multiple Codependent System Integration and Component Assembly Frame Bodies- Title: Mono-Directional Wheel Embodiment 4Embodiment 1- Drawing Number: MW-4 - Title: Multi-Body Frame Embodiment 1D i F- ies - - ies - - - ies - - ies - - - N - - - - - - - - - 8 - - - - - - - - - - - - - - - - - - - - ENTS - - - - - -229 10 -Drawing Number: FSE-3Fig.92 Dynamic Snowboard Emulation Device Illustration 4 Fig.79 Complete System Component Arrangement Embodiment 4- Title: Dynamic Snowboard Emulation Device Depiction 4- Title: Single Body Snow Scooter Mobility Concept Embodiment - Drawing Number: ISE-1.6- Drawing Number: FSE-4Fig.93 Dynamic Snowboard Emulation Device Illustration 5 Fig.80 Complete System Component Arrangement Embodiment 5- Title: Dynamic Snowboard Emulation Device Depiction 512 e in the e ntrol ion notr r egral hieved. ement e es for e ontrol. ill serve ments nts of to be ate present hout onal ay be ial d ng es, and tive ystems his ity nents lled hich23CLAIMS CLAIMS Claim 1: Claim 2: The invention substantially as described and illustrated in the specification and drawings herein. The innovative disclosed methods and systems for the omnidirectional mobility control system substantially as described and illustrated in the specification and drawings herein.42ENLARGED CHART FIGURE PROVIDED ON FOLLOWING SHEET PROJECT Omnidirectional Mobility Control System TITLE n VPROJECT Omnidirectional Mobility Control System TITLE s VTWO ROWS OF ROLLERS TWO ROWS OF PERPENDICULAR PERPENDICULAR WHEEL BODYROWSROLLERSCENTRAL HUBWHEEL BODY CENTRAL HUB PROJECT PROJECT Omnidirectional Mobility Control System Omnidirectional Mobility Control System TITLE TITLE Omnidirectional Wheel Example 1 Omnidirectional Wheel Example 2 Figure 3 Figure 4 APPROVEDSIZE CODE DWG NO REVAPPROVEDSIZE CODE DWG NO REVCHECKEDA OW OW-1 1CHECKEDA OW 2 1DRAWNBenjamin Smith 5 / 8 / 24SCALE1:2WEIGHT SHEET1 / 1 DRAWNBenjamin Smith 5 / 8 / 24SCALE1:1WEIGHT SHEET1 / 1 44TWO ROWSOF PERPENDICULAR m 4 REV1m e 1 REV145TWO ROWS OF m ple REV1m REV146ANGLED ROLLERS WHEEL BODY CENTER WHEEL HUB PROJECT PROJECT Omnidirectional Mobility Control System Omnidirectional Mobility Control System TITLE TITLE Mecanum Wheel Example 3 Mecanum Wheel Example 4 Figure 13 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA MCW MCW-3 1 1DRAWNBenjamin Smith 5 / 13 / 24SCALE WEIGHT SHEET1 / 1m nt REV147AXLE + HARDWARE MOUNTING PLATE MOUNT PLATE m 2 REV1SUSPENSION SYSTEM m 4 REV148LOWER MOUNT BRACKET AXLE + PLATE HARDWARE MOTOR ROTATION WHEELS MECHANISM PROJECT PROJECT Omnidirectional Mobility Control System Omnidirectional Mobility Control System TITLE TITLE Powered Caster Wheel Assembly Example Inte rated Power Caster Wheel Embodiment 1 Figure 21 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA CAS CAS-5 1 1DRAWNBenjamin Smith 5 / 8 / 24SCALE1:1.25WEIGHT SHEET1 / 1SPHERICAL ROLLER ELEMENT HOUSING PROJECT PROJECT Omnidirectional Mobility Control System- INTERNAL SPHERICALELEMENT ROTATION Omnidirectional Mobility Control Syste ITLE MECHANISM m T NOT SHOWN. Integrated Motor Caster Wheel Embodiment 2 1 Figure 23 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA CW CW-7 1 1DRAWNBenjamin Smith 5 / 13 / 24SCALE WEIGHT SHEET1 / 149SPHERICAL ROLLER HOUSING ELEMENT MOTOR m t 1 REV1m t 2 REV150WHEEL / TIREWHEEL BODYem t 4 REV1MOTION RESISTANCE ELEMENT BODY FASTENING THROUGH BORES PROJECT PROJECT Omnidirectional Mobility Control System Omnidirectional Mobility Control System TITLE Integrated Hub Motor Monodirectional Wheel Embodiment ent 1 Figure 31 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA MW MW-5 1 1DRAWNBenjamin Smith 5 / 13 / 24SCALE WEIGHT SHEET1 / 151MOTION MOTION RESISTANCE RESISTANCE ELEMENT ELEMENT BODY BODY m t 3 REV1MOTION m t 5 REV152FRAME FRAME BODY BODY INTEGRATED AXLES SYSTEM ASSEMBLY FASTENING SYSTEM THROUGH ASSEMBLY BORES FASTENING THROUGH BORES PROJECT PROJECT OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM TITLE TITLE Single Body Frame Embodiment 1 Single Body Frame Embodiment 2 F Fraimgeu: Dryenam 3ic7 Load Stabilization Embodiment APPROVEDSIZE CODE DWG NO REV REVCHECKEDA F F-1 1 1DRAWNBenjamin Smith 5 / 10 / 24SCALE1:8WEIGHT SHEET1 / 1FRAME FRAME BODY BODY OFFSET AXLE THROUGH BORES SYSTEM ASSEMBLY INTEGRATED FASTENING AXLES THROUGH BORES OMNI-WHEEL POCKET PROJECT PROJECT SYSTEM OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM ASSEMBLY OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM TITLE FASTENING Single Body Frame Embodiment 3 THROUGH BORES nt 4 F Fraimgeu: Praellet 3 Mo9ver Foot Concept Embodiment APPROVEDSIZE CODE DWG NO REV REVCHECKEDA F F-3 1 1DRAWNBenjamin Smith 5 / 10 / 24SCALE1:10WEIGHT SHEET1 / 153SYSTEM FRAME SYSTEM ASSEMBLY BODY 1 ASSEMBLY FASTENING FAST THROUGH A DETAIL A ENING THROUGH BORES FRAME BODY 2 SCALE 1" = 0'-6" BORES DETAIL A SCALE 1:5 AXLE THROUGH BORES FRAME FRAME BODY BODY 1 A FRAME BODY 2 PROJECT PROJECT OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM TITLE TITLE Single Body Frame Embodiment 5 Multi-Body Frame Embodiment 1 F Fraimgeu: Srneowb 4oa1rd Mobility Concept Embodiment APPROVEDSIZE CODE DWG NO REV REVCHECKEDA F F-5 1 1DRAWNBenjamin Smith 5 / 10 / 24SCALE1:15WEIGHT SHEET1 / 1DETAIL A OFFSET AXLE FRAME A THROUGH BODY 3 FRAME BORES SYSTEM ASSEMBLY BODY 3 FASTENING FRAME THROUGH FRAME BODY 1 BORES BODY 4 AXLE THROUGH BORES FRAME BODY 4 FRAME B BODY 2 FRAME BODY 2 SYSTEM FRAME ASSEMBLY ME FR BODY 2 FRA AME FASTENING BODY 1 BODY 1 THROUGH BORES DETAIL B PROJECT PROJECT OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM OMNIDIRECTIONAL MOBILITY CONTROL SYSTEM TITLE Multi-Body Frame Embodiment 2 t 3 F Fraimgeu: Qruead F 4o3ot Rover Mobility Concept Embodiment ment APPROVEDSIZE CODE DWG NO REV REVCHECKEDA F F-7 1 1DRAWNBenjamin Smith 5 / 10 / 24SCALE1:15WEIGHT SHEET1 / 154HANDLE BAR FRAME A EM 5 REV1MONODIRECTIONAL OMNIDIRECTIONAL WHEEL 1 WHEEL MONODIRECTIONAL SEMI-STABLE WHEEL OMNIDIRECTIONAL WHEEL AXLE AXLE AXLE MONODIRECTIONAL AXLE WHEEL 2 PROJECT PROJECT Omnidirectional Mobility Control System Omnidirectional Mobility Control System TITLE Axle Integration Embodiment 1 2 F Axlieg Inutergreatio 4n7 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA AI AI-1 1 1DRAWNBenjamin Smith 5 / 10 / 24SCALE1:2WEIGHT SHEET1 / 155OMNI-WHEEL MONODIRECTIONAL AXLE MONODIRECTIONAL WHEEL 1 WHEEL 2 SEMI-STABLE OMNIDIRECTIONAL OFFSET WHEEL AXLE 2 OMNI-WHEEL AXLE OMNIDIRECTIONAL NODIRCTIONAL MO WHEEL MO NODIRECTIONAL WHEEL 2 WHEEL 1 PERIPHERAL WHEEL OFFSET AXLE 1 AXLE 2 PROJECT PROJECT PERIPHERAL Omnidirectional Mobility Control System Omnidirectional Mobility Control System WHEEL TITLE TITLE AXLE 1 Axle Integration Embodiment 3 Axle Integration Embodiment 4 F Muiltgi-Auxlere Inte 4gra9tion APPROVEDSIZE CODE DWG NO REV REVCHECKEDA AI AI-3 1 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:1.5WEIGHT SHEET1 / 1OMNIDIRECITONAL OFFSET PERIPHERAL WHEEL MONDIRECTIONAL WHEEL 2 OFFSET AXLE 2 OFFSET AXLE 1 PERIPHERAL WHEEL 1 OMNI-WHEEL OFFSET PERIPHERAL MONODIRECTION I-WHEEL AXL AL WHEEL 1 OMN E OMNI-WHEEL AXLE AXLE OFFSET AXLE PERIHPERAL PROJECT SEMI-STABLE PROJECT WHEEL 2 Omnidirectional Mobility Control System OMNI-WHEEL Omnidirectional Mobility Control System TITLE Axle Integration Embodiment 5 6 F Muiltgi-Auxlere Inte 5gra1tion 2 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA AI AI-5 1 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:2.5WEIGHT SHEET1 / 156MONODIRECTIONAL WHEEL ELEMENT SEMI-STABLE OMNIDIRECTIONAL WHEEL DIRECT INTEGRATION COUPLER SHAFT OMNIDIRECTIONAL WHEEL ELEMENT MONODIRECTIONAL MONODIRECTIONAL WHEEL 2 WHEEL 1 PROJECT PROJECT Omnidirectional Mobility Control System Omnidirectional Mobility Control System TITLE TITLE Omni-Wheel and Mono-Wheel Integration Embodiment 1 ment 2 Figure 53 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA DI DI-1 1 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:2WEIGHT SHEET1 / 1MOUNT PLATE DIRECT INTEGRATION CASTER WHEEL MONODIRECTIONAL WHEEL 1 LOWER BRACKET OFFSET (SIZE) SUSPENSION DIRECT INTEGRATED PERIPHERAL SYSTEM MONODIRECTIONAL WHEEL 1 WHEEL DIRECT INTEGRATION CASTER WHEEL COUPLER SHAFT FRAME BODIES OMNI-WHEEL CASTER STYLE OMNIDIRECTIONAL WHEEL PROJECT PROJECT Omnidirectional Mobility Control System Omnidirectional Mobility Control System TITLE Omni-Wheel and Mono-Wheel Integration Embodiment 3 ration Figure 55 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA DI DI-3 1 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:1.5WEIGHT SHEET1 / 157OFFSET MONODIRECTIONAL PERIPHERAL MONODIRECTIONAL OMNI-WHEEL WHEEL 2 WHEEL 1 BELT PULLEY DRIVE PERIPHERAL BELTS MONODIRECTIONAL WHEEL 2 m nt REV1WHEEL ELEMENT DRIVE SHAFT WHEEL ELEMENT DRIVE SHAFTINTEGRATION FRAME BODY SYSTEM OMNIDIRECTIONAL WHEEL OMNIDIRECT ASSEMBLY ELEMENT 1 IONAL SHAFT TRANSMISSION WHEEL ELEMENT 1 FASTENING SYSTEM (HOUSING SHOWN) THROUGH PERIPHERAL OFFSET BORES MONODIRECTIONAL PERIPHERAL OFFSET WHEEL 1 A MONODIRECTIONAL WHEEL 2 SUSPENSION OMNIDIRECTIONAL SYSTEM WHEEL PRIMARY MOTOR DRIVE SHAFT ELECTRIC MOTOR OFFSET MONODIRECTIONAL WHEEL S` YSTEM ASSEMBLY FASTENING THROUGH BORES PROJECT WHEEL ELEMENT NOTE: AXLE INTEGRATION PROJECT T Omnidirectional Mobility Control System AXLE HROUGH BORES ENABLE ARTICULATION Omnidirectional Mobility Control System TITLE OF AXLE ACCORDING TO Powered Shaft Embodiment ation Figure 59 APPROVEDSIZE CODE DWG NO REV REVCHECKED DETAIL AA PD PD-3 1 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:4WEIGHT SHEET1 / 158SUSPENSION INTEGRATION SYSTEM FRAME BODY INTEGRATION BRACKET BODY OFFSET SUSPENSION ADJUSTMENT MONODIRECTIONAL OFFSET PERIPHERAL MONODIRECTIONAL MOTOR WHEEL WHEEL AXLE OMNIDIRECTIONAL SUSPENSION SYSTEM SPRIN OMNI-WHEEL WHEEL G HINGE AXLE DRIVE OMNI-WHEEL MOTOR FRAME BODY DRIVE OMNIDIRECTIONAL SHAFT WHEEL WHEEL NOTE: AXLE INTEGRATION PROJECT OFFSET NOTE: SPRING HINGE PROJECT ELEMENT THROUGH BORES MONODIRECTIONAL FUNCTIONS TO VARIABLY AXLE ENABLE ARTICULATION Omnidirectional Mobility Control System WHEEL RESIST AGAINST Omnidirectional Mobility Control System OF AXLE ACCORDING TO TITLE REPOSITIONING FROM TITLE SUSPENSION SYSTEM SHOWN EQUILIBRIUM RANGE OF MOTION. Active Suspension Engagement Configuration POSITION Spring Suspension Engagement Configuration Figure 61 APPROVEDSIZE CODE DWG NO REV REVCHECKEDA SE SE-2 1 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:3WEIGHT SHEET1 / 1DRIVE AND ADJUSTMENT INTEGRATED MOTORS INTEGRATION FRAME BODY m ent REV159INTEGRATION FRAME BODY INTEGRATION m t 3 REV1MOTION RESISTANCE m ent REV160MOTOR DRIVE SHAFTS m ent REV1m ent REV161A m ent DETAREV1m ent REV162SEMI-STABLE OMNIDIRECTIONAL WHEELS MONODIRECTI m ent REV1MONODIRECTIONAL OFFSET CONTROL WHEELS OMNIDIRECTIONAL CASTER WHEEL ASSEMBLIES A CASTER WHEEL FRAME BODIES SYSTEM ASSEMBLY FASTENING THROUGH BORES NOTE: System elementPROJECTNOTE: System elementPROJECT arrangment shown without arrangment shown without integrating frame body / bodies. Depicted s stem element Omnidirectional Mobility Control System integrating frame body / bodies. Depicted system element Omnidirectional Mobility Control System TITLE arrangement can be integrated ent utilizing any appropriate frame Pallet Mover Mobility System Element Arrangement Embodiment body format. If multiple bodies are utilized, a rigid connection must be Figure 74 maintained by overall system. EVAPPROVEDSIZE CODE DWG NO REV1CHECKEDA SEAE SEAE-7 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:6WEIGHT SHEET1 / 263em ment REV1OMNIDIRECTIO SPHERI ROLL DRIVE AND ADJUSTMENT MOTORS m ent REV1DET64DRIVE m nt REV1m nt REV165SEMI-STABLE OMNIDIRECTIONAL WHEELS m ent REV1OFFSET PERIPHERAL WHEEL m ent REV166BODY 1 OFFSET PERIPHERAL FRAME BODY 1 MONODIRECTIONAL WHEELS ROTARY COUPLING BODY 1 SEMI-STABLE OMNIDRECTIONAL m ent REV1m nt REV167OFFSET PERIPHERAL CASTER WHEEL MONODIRECTIONAL ASSEMBLY WHEEL AXLES BODIES m nt REV1OFFSET PERIPHERAL m nt REV168OFFSET m ent REV1SYSTEM SYSTEM INTEGRATON INTEGRATON m n 1 REV169m n 2 REV1m n 3 REV170m n 3 REV1m n 1 REV171em n 3 REV1m n 5 REV172em ent REV1OMNIDIRECTIONAL WH SYSTEM ASSE AND INTEGR FRAME WHEEL E DRIVE m n 1 REV173m n 2 REV1m n 1 REV174em n 3 REV1m n 5 REV175em ent REV1FRAME BODY 1 OFFSET PERIPHERAL FRAME BODY 1 SEMI-STABLE OMNIDIRECTIONAL WHEELS m ent REV176BODY 1 OFFSET PERIPHERAL FRAME BODY 1 MONODIRECTIONAL WHEELS ROTARY COUPLING BODY 1 SEMI-STABLE OMNIDRECTIONAL m ent REV1SYSTEM INTEGRATION A m ent REV177OFFSET PERIPHERAL MONODIRECTIONAL WHEELS CONTROLLING / LOADING BIPEDAL ROBOT OMNIDIRECTIONAL DETAIL B WHEELS SYSTEM INTEGRATION FRAME BODIES OMNI-WHEEL AXLES OFFSET Note: Depicted systems shown DETAIL A PROJECT Note: Depicted systems shown PROJECT MONODIRECTIONAL with(out) operating user(s) and / or with(out) operating user(s) and / or WHEEL AXLES additional integrated controlling ms can be Omnidirectional Mobility Control Syste additional integrated controlling systems. Depicted syste m Omnidirectional Mobility Control System TITLE systems. Depicted systems can be TITLE operated by any appropriate users operated by any appropriate users or integrated controlling systems. If Bipedal Robot Mobility Concept Embodiment or inte rated controllin s stems If Drone Landin Gear Conce t Ada tation Embodiment multiple unstable frame bodies are utilized, a rigid connection must be Figure 108 maintained by integrating system. APPROVEDSIZE CODE DWG NO REV REVCHECKEDA ISE ISE-6 1 1DRAWNBenjamin Smith 5 / 11 / 24SCALE1:30WEIGHT SHEET2 / 2CONTROLLING / m ent REV178OMNI- WHEEL AXLES m ent REV1m nt REV179SYSTEM INTEGRATION FRAME BODY8081828384

Claims

690292-2WO CLAIMS I / We claim: I claim: 5 1. A multidirectional support device configured to move upon a traversed surface, the multidirectional support device comprising: (a) a base; (b) a multiaxial mobility element attached to the base, the multiaxial mobility element 10 including: (i) a main rolling element having a main rolling axis (M) and a secondary rolling element having a secondary rolling axis (S), the main rolling element being configured to allow rolling about the main rolling axis (M), and the secondary rolling element being configured to allow rolling about the secondary rolling axis (S); and 15 (ii) the multiaxial mobility element being arranged to support the base in a first stabilized equilibrium when the base is moving on the traversed surface and supported on the traversed surface by the multiaxial mobility element, so that the base has multidirectional mobility on the traversed surface; and (c) a controlled-mobility element configured for controlled mobility and attached to the 20 base so that: (i) in the first stabilized equilibrium, the controlled-mobility element does not impede a multidirectional movement of the multidirectional support device; and (ii) in a second stabilized equilibrium, the controlled-mobility element engages the traversed surface and thereby impedes the multidirectional movement of the 25 multidirectional support device.

2. The multidirectional support device of claim 1, wherein in the first stabilized equilibrium, the controlled-mobility element is not engaged with the traversed surface.

3. The multidirectional support device of claim 1, wherein the multiaxial mobility element includes a multiaxial wheel rotatable about a first axis, and at least one controlled-mobility 30 element is rotatable about the first axis.

854. The multidirectional support device of claim 1, wherein the main rolling element includes one of a multidirectional wheel or a Mecanum wheel.

5. The multidirectional support device of claim 1, further comprising a second multiaxial mobility element attached to the base. 5 6. The multidirectional support device of claim 5, wherein the second multiaxial mobility element is attached to the base such that upon a deviation from the first stabilized equilibrium, a resulting restoring force opposing the deviation or driving a return to the first stabilized equilibrium is generated.

7. The multidirectional support device of claim 1, wherein the main rolling element has a 10 main rolling resistance, and the secondary rolling element has a secondary rolling resistance, and the secondary rolling resistance is different from the main rolling resistance, so that the multidirectional support device tends to move with a preference for motion relative to one of the main rolling resistance or the secondary rolling resistance.

8. The multidirectional support device of claim 5, wherein the second multiaxial mobility 15 element attached to the base is configured to contact the traversed surface at a common time with the first multiaxial mobility element, and the second multiaxial mobility element has a second main rolling axis (M), and the second main rolling axis (M) is not parallel to the first main rolling axis (M), so that the multidirectional support device tends to move along an a non-linear path defined by the first multiaxial mobility element and the second multiaxial mobility element. 20 9. The multidirectional support device of claim 7, wherein the multidirectional support device tends to move perpendicularly to the main rolling axis, in preference to moving parallel to the main rolling axis.

10. The multidirectional support device of claim 1, further comprising a drive unit configured to drive rotation of the main rolling element about the main rolling axis (M). 25 11. The multidirectional support device of claim 10, further comprising a second drive unit configured to drive rotation of the secondary rolling element about the secondary rolling axis (S).

12. The multidirectional support device of claim 1, wherein a static element is displaceable along a displacement axis (D) with respect to the multiaxial mobility element to position the 30 multiaxial mobility element so that the static element impedes rotation of the multiaxial mobility element. 8613. The multidirectional support device of claim 1, wherein the multiaxial mobility element is displaceable along an axis with respect to a second multiaxial mobility element to position the multiaxial mobility element so that the second multiaxial mobility element impedes rotation of the secondary rolling element of the multiaxial mobility element. 5 14. The multidirectional support device of claim 1, wherein the multidirectional support device has a longitudinal axis and includes the controlled-mobility element disposed on a first side of the longitudinal axis and a second controlled-mobility element disposed on a second side of the longitudinal axis so that if the multidirectional support device base leans to the first side or to the second side of the longitudinal axis sufficiently, the controlled-mobility device or the 10 second controlled-mobility device engages the traversed surface, thereby reducing a multidirectional movement of the multidirectional support device.

15. The multidirectional support device of claim 4, wherein the base has dimensions and characteristics such that the multidirectional support device simulates or mimics a stability and a turning behavior of one of a rideable board-sport device. 15 16. The multidirectional support device of claim 4, wherein the base has dimensions and characteristics such that the multidirectional support device is appropriately predisposed for functionality as recreational equipment.

17. The multidirectional support device of claim 1, wherein: the base has attached thereto a plurality of controlled-mobility elements positioned so that 20 depending of a degree of deviation from horizontal, one of a first subset or second subset of the controlled-mobility elements contacts the traversed surface, with the first subset providing a first radius of curvature to a path of the multidirectional support device, and the second subset providing a second radius of curvature to the path of the multidirectional support device.

18. The multidirectional support device of claim 1, wherein the base includes binding mounts 25 for attaching bindings to secure a user to the multidirectional support device.

19. The multidirectional support device of claim 5, further comprising: a second multiaxial mobility element attached to the base, wherein the multiaxial control element is disposed at a front-end portion of the base and affixed a subbase, the subbase being pivotable or rotatable with respect to the base; and 87wherein the subbase is affixed to a handlebar projecting upwardly from the base to allow the subbase and the multiaxial control element attached thereto to be pivoted or rotated with respect to the base.

20. The multidirectional support device of claim 1, wherein the base further comprises: 5 a flexing region rendering the multidirectional support device flexible; a side-cut radius, the side-cut radius varying based on flexing of the base due to a force imposed by a user; binding mount features; a plurality of multi-axial mobility elements arranged to provide similar support relative to 10 traditional snowboard base surface and traversed surface relationship; minimized multidirectional friction resisting motion; a plurality of controlled-mobility elements arranged to provide similar dynamic mobility; influence relative to traditional snowboard-edge and traversed surface relationship; generation of friction for resisting motion for sliding, slowing, or stopping; 15 traction directed by plurality of contact points (sliding, turning, ‘carving’); or variable geometry relating to variable performance characteristics (widely varying designs and implementations).

21. The multidirectional support device of claim 1, The multidirectional support device of claim 1, wherein the base is configured with characteristics providing similar support to that 20 provided by a snow ski: a flexing region rendering the multidirectional support device flexible; a side-cut radius, the side-cut radius varying based on flexing of the base due to a force imposed by a user; binding mount features; 25 a plurality of multi-axial mobility elements arranged to provide similar support relative to traditional snow ski and traversed surface relationship; minimized multidirectional friction resisting motion; a plurality of controlled-mobility elements arranged to provide similar dynamic mobility; influence relative to traditional snow-ski-edge and traversed surface relationship; 30 generation of friction for resisting motion for sliding, slowing, or stopping; traction directed by plurality of contact points (sliding, turning, ‘carving’); or 88variable geometry relating to variable performance characteristics (widely varying designs and implementations).

22. A multidirectional support system comprising: a first multidirectional support system component, the first multidirectional 5 system component being a multidirectional support device according to claim 1; and a second multidirectional support system component, the second multidirectional system component being a multidirectional support device according to claim 1.

23. The multidirectional support system of claim 22, wherein the first multidirectional support system component is configured to attach to a first lower limb of a user, and 10 wherein the second multidirectional support system component is configured to attach to a second lower limb of a user. . 15 89

Images