Method of stabilizing a mobility device

Abstract

Disclosed is a method of stabilizing a vehicle including slewing a wheel command voltage until the wheel command voltage corresponds with a velocity command.

Description

METHOD OF STABILIZING A MOBILITY DEVICECROSS REFERENCE TO RELATED APPLICATION(S)

[0001] None.RESERVATION OF COPYRIGHTS

[0002] Portions of the disclosure of this document contain material that is subject to copyright protection. The copyright owner does not object to any reproduction of the document or disclosure as it appears in official records, but reserves all remaining rights under copyright.BACKGROUND

[0003] The present disclosure relates to mobility devices, and more particularly to integrating diverse controls of a mobility device.

[0004] In prior art systems, such as the self-balancing vehicles shown in U.S. Pat. No.5,971 ,091 , which is incorporated herein by reference, personal vehicles may be self-propelled and user-guidable. Such vehicles may entail stabilization in one or both of the fore-aft or leftright planes, such as when no more than two wheels are in ground contact at a time. Vehicles of this sort may be operated in a mode in which motion of the vehicle, including acceleration (both linear and turning), is controlled partially or entirely by leaning of the vehicle as caused by a subject riding the vehicle.

[0005] Such balancing vehicles may lack static stability. Referring, for example, to FIG. 1A, wherein a prior art personal transporter is shown and designated generally by numeral 18, a subject 10 stands on a support platform 12 and holds a grip 14 on a handle 16 attached to the platform 12, so that the vehicle 18 of this embodiment may be operated in a manner analogous to a scooter. A control loop may be provided so that leaning of the subject results in the application of torque to wheel 20 about axle 22 thereby causing an acceleration of the vehicle. Vehicle 18, however, is statically unstable, and, absent operation of the control loop to maintain dynamic stability, subject 10 will no longer be supported in a standing position and will fall from platform 12. Another prior art balancing vehicle is shown in FIG. 1B and designated generally by numeral 24. Personal vehicle 24 shares the characteristics of vehicle 18 of FIG. 1 A, namely a support platform 12 for supporting subject 10 and grip 14 on handle 16 attached to platform 12, so that the vehicle 24 of this embodiment may also be operated in a manner analogous to a scooter. FIG. 1 B shows that while vehicle 24 may have clusters 26 each having a plurality ofAB663WO 1 / 33wheels 28, vehicle 24 remains statically unstable and, absent operation of a control loop to maintain dynamic stability, subject 10 will no longer be supported in a standing position and may fall from platform 12.

[0006] A standing rider 10 of the vehicle 30 places his feet on the platform and shifts weight back and forth in a relatively wide and flat path 33. The slight amount of strength that is needed to resist gravity and inertia in transversing this arc is well within the strength and coordination of an average user's muscles. The center of gravity of the vehicle and rider 35 moves in an arcuate fashion as the rider leans either forward or backward. When a seat is added to such a vehicle, movement of the center of gravity in the manner described above may no longer be possible and an alternative mechanism for shifting the center of gravity is required. The mechanism needs to provide adequate range of motion while allowing the rider to resist gravity and inertia.

[0007] Some riders may desire an option of controlling motion, rather than or in addition to shifting the rider’s center of gravity, by actuating a mechanism, such as and not limited to a joystick, a handlebar having a four-bar linkage, a pivotable handlebar and a throttle.

[0008] Some riders may desire an option of controlling velocity, rather than or in addition to shifting the rider’s center of gravity, actuating a throttle, comparable to a handle bar grip-implemented motorcycle throttle. However, conventional actuation of a motorcycle style throttle could counteract and / or create discomfort when performed in concert with leaning in the direction of intended travel. For example, leaning forward and rotating the throttle rearwardly as is customary for increasing motorcycle speed would cause substantial, potentially unattainable articulation of the rider’s wrist.

[0009] What is needed is a method of throttling and a throttle for a mobility device that is gravity independent and ergonomically accommodating.

[0010] Some riders struggle with adjusting the seat on a mobility device so as to position the users body in a way that optimally or at least safely positions the center of gravity of the combined mobility device and user for normal operations.

[0011] Sometimes, despite careful operation, a mobility device can encounter a situation, such a snag in a rug, that causes the mobility device to pitch suddenly and, if not countered, cause the rider to fall and, worse, then have the mobility device fall on top of the rider.

[0012] What is needed is a mobility device that provides for integrating multiple inputs pertaining to the same intended motion, automatically assesses the center of gravity of a user and / or device that may aid in positioning the seat thereof and / or condition enabling operability of the mobility device based thereon, and counters unexpected pitching.AB663WO 2 / 33SUMMARY OF THE INVENTION

[0013] The invention is a method and a mobility device that provides for integrating multiple inputs pertaining to the same intended motion, automatically assesses the center of gravity of a user and / or device that may aid in positioning the seat thereof and / or condition enabling operability of the mobility device based thereon, and counters unexpected pitching.

[0014] An embodiment of a method of throttling a vehicle configured according to principles of the invention includes defining above an axis of rotation a tangent vector with a tangent direction that corresponds with an intended vehicle direction.

[0015] An embodiment of a method of controlling a mobility device configured according to principles of the invention includes receiving a first input that is indicative of a control of the mobility device, receiving a second input that is indicative of the control, defining a composite input based on the first input and the second input, and instructing a drive controller consistently with the composite input.

[0016] An embodiment of a mobility device configured according to principles of the invention includes a removable stalk that is configured for selectably connecting with a base that includes a ground-contacting member, a drive configured for driving the ground-contacting member, and a processor configured for responding to a signal from the stalk and correspondingly instructing the drive. The connecting includes mechanical retention and / or electrical communication.

[0017] An embodiment of a method of stabilizing a vehicle includes slewing awheel command voltage until the wheel command voltage corresponds with a velocity command.

[0018] The invention provides improved elements and arrangements thereof, for the purposes described, which are inexpensive, dependable and effective in accomplishing intended purposes of the invention.

[0019] Other features and advantages of the invention will become apparent from the following description of the embodiments, which refers to the accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The invention is described in detail below with reference to the following figures, throughout which similar reference characters denote corresponding features consistently, wherein:

[0021] The foregoing features of the invention will be more readily understood by reference to the following detailed description, taken with reference to the accompanying drawings, in which:AB663WO 3 / 33

[0022] FIG. 1 A is a side view of a prior art dynamically balancing vehicle of the type of which an embodiment of the invention may be advantageously employed;

[0023] FIG. 1 B is a side view of a further prior art dynamically balancing vehicle of the type of which an embodiment of the invention may be advantageously employed;

[0024] FIGS. 2A and 2B are a prior art dynamically balancing vehicle having a platform that rotates in an arc;

[0025] FIG. 3 shows a dynamically balancing vehicle having a seat;

[0026] FIG. 3A shows a dynamically balancing vehicle in which the seat is coupled to a control stalk;

[0027] FIG. 3B shows a dynamically balancing vehicle in which the seat is coupled to the platform by a pivot;

[0028] FIG. 3C shows a dynamically balancing vehicle in which the seat is slideably mounted;

[0029] FIG. 3D shows a dynamically balancing vehicle having a seat;

[0030] FIG. 4A shows the seat of the dynamically balancing vehicle mounted on a four bar linkage;

[0031] FIG. 4B shows one position of the four bar linkage as would occur if a rider leaned backwards shifting the center of gravity in the aft direction;

[0032] FIG. 4G shows that the four bar linkage simulates a rocking motion such that there is translation and rotation of the seat;

[0033] FIG. 4D shows the center of gravity translating in a straight line while the seat both translates and rotates;

[0034] FIG. 4E shows a bar linkage mechanism for translation and rotation wherein one or more bars are flexible;

[0035] FIG. 5A is an embodiment of the dynamically balancing vehicle in which the seat is attached to a bar via a pivot;

[0036] FIG. 5B is an embodiment that shows the seat attached to a slider about a pivot point wherein pulleys help to control rotation;

[0037] FIG. 5C shows a seat that is coupled to a slider that rides on at least partially curved rails;

[0038] FIG. 5D shows a seat coupled to a track which includes friction wheels wherein the seat both translates and rotates;

[0039] FIG. 5E shows a support structure having a plurality of pins which will engage with recesses in the platform;AB663WO 4 / 33

[0040] FIG. 6 shows a side view of an embodiment of the dynamically balancing vehicle with a detachable rocker seat;

[0041] FIG. 6A shows the support structure attached to the platform via a simple cable under tension;

[0042] FIG. 6B shows the support structure including a series of teeth on the bottom arced surface and also on the platform;

[0043] FIG. 60 shows the support structure coupled to the platform about a pivot point;

[0044] FIG. 7A shows a folding seat which can be attached to a dynamically balancing vehicle wherein the seat is positioned as if a rider is sitting on the seat;

[0045] FIG. 7B shows a rider sitting on the folding seat;

[0046] FIG. 70 shows the position of the folding seat when a rider engages / disengages with the vehicle;

[0047] FIG. 7D shows an embodiment of a dynamically balancing vehicle having knee supports;

[0048] FIG. 8 shows an embodiment of a support structure which includes both translational and rotational mechanical actuators;

[0049] FIG. 8A is a schematic view of an embodiment of a dynamically balancing vehicle;

[0050] Figs. 9A and 9B are top, right, front environmental perspective views of an embodiment of a mobility device configured according to principles of the invention, the latter figure excluding a shield;

[0051] Fig. 10 is a top, right, rear environmental perspective view of the embodiment of the mobility device of Fig. 9B;

[0052] Fig. 11 is a vertical, cross-sectional detail view aligned with line 650 in Fig. 10 of an embodiment of a handle bar of the embodiment of the mobility device of Fig. 9A;

[0053] Fig. 12 is an exploded view of the embodiment of Fig. 11 ;

[0054] Fig. 13 is a right side, top, rear elevational view, partially in cross section, of a portion of the handlebar of Figs. 11 and 12;

[0055] Fig. 14 is a right, top, rear elevational view of a four-bar linkage configured according to principles of the invention;

[0056] Figs. 15A, 15B and 15C are a left, top, front elevational views of a four-bar linkage configured according to principles of the invention, the latter figures omitting and / or including components of the former figure;

[0057] Fig. 16 is a top, right, rear environmental perspective view of an embodiment of a mobility device configured according to principles of the invention;AB663WO 5 / 33

[0058] Fig. 17 is a top, right, rear environmental perspective view of an embodiment of a mobility device configured according to principles of the invention;

[0059] Figs. 18A and 18B respectively are a vertical, cross-sectional detail view drawn along a longitudinal plane, and a right, top, front elevational view of portions of an embodiment of an input for controlling a mobility device configured according to principles of the invention;

[0060] Fig. 19 is a right, top, rear elevational view of a handlebar of a mobility device configured according to principles of the invention;

[0061] Fig. 20 is a schematic view of a mobility device configured according to principles of the invention;

[0062] Fig. 21 is a diagrammatic view of a closed loop control of a mobility device configured according to principles of the invention;

[0063] Fig. 22 is a top, right, front environmental perspective view of an embodiment of a mobility device with a removable stalk configured according to principles of the invention;

[0064] Figs. 23A and 23B respectively are top, right, front and top, right, rear environmental perspective views of the stalk of Fig. 22;

[0065] Fig. 24 is a left side elevational view of the mobility device of Fig. 9B;

[0066] Figs. 25 and 26 respectively are front elevational views, partially in cross section along line AA in Fig. 24, the former figure including the stalk of Fig. 24 and the latter figure excluding the stalk of Fig. 24;

[0067] Figs. 27A and 27D respectively are cross-sectional detail views along lines BB and CC in Figs. 25 and 26 drawn to an enlarged scale;

[0068] Fig. 27B is a partial cross-sectional detail view similar to Fig 27A with a stop retracted;

[0069] Fig. 27C is a partial cross-sectional detail view of a back side of Fig. 27B;

[0070] Fig. 28 is a right side elevational view of the mobility device of Fig. 9B excluding a wheel;

[0071] Fig. 29 is partial right side elevational view of the mobility device of Fig. 9B excluding a wheel and incorporating a schematic view of kickstand articulation;

[0072] Figs. 30A, 30B, 30C and 30D are diagrammatic views of controls configured according to principles of the invention;

[0073] Figs. 31 A and 31 B are graphical views of mechanical properties of components configured according to principles of the invention;

[0074] Figs 32A, 32B and 32C are diagrammatic views of a user interface and related mobility device operations configured according to principles of the invention; andAB663WO 6 / 33

[0075] Figs. 33-36 are graphical views of signals related to properties of the embodiment of Figs. 9A and B.DETAILED DESCRIPTION OF THE EMBODIMENTS

[0076] The examples shown in drawings are presented to demonstrate examples of the disclosure. The drawings are illustrative and non-limiting. In the drawings, for illustrative purposes, the size of some of the elements may be exaggerated and not drawn to a particular scale. Additionally, elements shown within the drawings that have the same numbers may be identical elements or may be similar elements, depending on the context.

[0077] Where the term "comprising" is used in the present description and claims, it does not exclude other elements or steps. Where an indefinite or definite article is used when referring to a singular noun, e.g., "a", "an", or "the", this includes a plural of that noun unless something otherwise is specifically stated. Hence, the term "comprising" should not be interpreted as being restricted to the items listed thereafter; it does not exclude other elements or steps, and so the scope of the expression "a device comprising items A and B" should not be limited to devices consisting only of components A and B. Furthermore, to the extent that the terms “includes”, “has”, “possesses”, and the like are used in the present description and claims, such terms are intended to be inclusive in a manner similar to the term “comprising,” as “comprising” is interpreted when employed as a transitional word in a claim.

[0078] Furthermore, the terms "first", "second", "third", and the like, whether used in the description or in the claims, are provided to distinguish between similar elements and not necessarily to describe a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances (unless clearly disclosed otherwise) and that the aspects of the disclosure described herein are capable of operation in other sequences and / or arrangements than are described or illustrated herein.

[0079] In the following description, numerous specific details are set forth to provide a thorough understanding of various aspects and arrangements. It will be recognized, however, that the techniques described herein can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well known structures, materials, or operations may not be shown or described in detail to avoid obscuring certain aspects.

[0080] Reference throughout this specification to “an aspect,” “an arrangement,” “a configuration,” or “an example” indicates that a particular feature, structure, or characteristic isAB663WO 7 / 33described. Thus, appearances of phrases such as “in one aspect,” “in one arrangement,” “in a configuration,” “in some examples,” or the like in various places throughout this specification do not necessarily each refer to the same aspect, feature, configuration, example, or arrangement. Furthermore, the particular features, structures, and / or characteristics described may be combined in any suitable manner.

[0081] To the extent used in the present disclosure and claims, the terms “component,” “system,” “platform,” “layer,” “selector,” “interface,” and the like are intended to refer to a computer-related entity or an entity related to an operational apparatus with one or more specific functionalities, wherein the entity may be either hardware, a combination of hardware and software, software, or software in execution. As an example, a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and / or a computer. By way of illustration and not limitation, both an application running on a server and the server itself can be a component. One or more components may reside within a process and / or thread of execution and a component may be localized on one computer and / or distributed between two or more computers. In addition, components may execute from various computer-readable media, device-readable storage devices, or machine-readable media having various data structures stored thereon. The components may communicate via local and / or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, a distributed system, and / or across a network such as the Internet with other systems via the signal). As another example, a component can be an apparatus with specific functionality provided by mechanical parts operated by electric or electronic circuitry, which may be operated by a software or firmware application executed by a processor, wherein the processor can be internal or external to the apparatus and executes at least a part of the software or firmware application. As yet another example, a component can be an apparatus that provides specific functionality through electronic components without mechanical parts; the electronic components can include a processor therein to execute software or firmware that confers at least in part the functionality of the electronic components.

[0082] In addition, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless specified otherwise, or clear from context, “X employs A or B” is intended to mean any of the natural inclusive permutations. That is, if X employs A, X employs B, or X employs both A and B, then “X employs A or B” is satisfied under any of the foregoing instances. Moreover, articles “a” and “an” as used in the subject disclosure and claims shouldAB663WO 8 / 33generally be construed to mean “one or more” unless specified otherwise or clear from context to be directed to a singular form.

[0083] The words “exemplary” and / or “demonstrative,” to the extent used herein, mean serving as an example, instance, or illustration. For the avoidance of doubt, the subject matter disclosed herein is not limited by disclosed examples. In addition, any aspect or design described herein as “exemplary” and / or “demonstrative” is not necessarily to be construed as preferred or advantageous over other aspects or designs, nor is it meant to preclude equivalent exemplary structures and techniques. Furthermore, to the extent that the terms “includes,” “has,” “contains,” and other similar words are used in either the detailed description or the claims, such terms are intended to be inclusive, in a manner similar to the term “comprising” as an open transition word, without precluding any additional or other elements.

[0084] As used herein, the term “infer” or “inference” refers generally to the process of reasoning about, or inferring states of, the system, environment, user, and / or intent from a set of observations as captured via events and / or data. Captured data and events can include user data, device data, environment data, data from sensors, application data, implicit data, explicit data, etc. Inference can be employed to identify a specific context or action or can generate a probability distribution over states of interest based on a consideration of data and events, for example.

[0085] The disclosed subject matter can be implemented as a method, apparatus, or article of manufacture using standard programming and / or engineering techniques to produce software, firmware, hardware, or any combination thereof to control a computer to implement the disclosed subject matter. The term "article of manufacture," to the extent used herein, is intended to encompass a computer program accessible from any computer-readable device, machine-readable device, computer-readable carrier, computer-readable media, or machine-readable media. For example, computer-readable media can include, but are not limited to, a magnetic storage device, e.g., hard disk; floppy disk; magnetic strip(s); an optical disk (e.g., compact disk (CD), digital video disc (DVD), Blu-ray Disc (BD)) ; a smart card; a flash memory device (e.g., card, stick, key drive); a virtual device that emulates a storage device; and / or any combination of the above computer-readable media.

[0086] Generally, program modules include routines, programs, components, data structures, etc., that perform particular tasks or implement particular abstract data types. The illustrated aspects of the subject disclosure may be practiced in distributed computing environments where certain tasks are performed by remote processing devices that are linked through aAB663WO 9 / 33communications network. In a distributed computing environment, program modules can be located in both local and remote memory storage devices.

[0087] Computing devices can include at least computer-readable storage media, machine-readable storage media, and / or communications media. Computer-readable storage media or machine-readable storage media can be any available storage media that can be accessed by the computer and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer-readable storage media or machine-readable storage media can be implemented in connection with any method or technology for storage of information such as computer-readable or machine-readable instructions, program modules, structured data, or unstructured data.

[0088] Computer-readable storage media can include, but are not limited to, random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD ROM), digital versatile disk (DVD), Blu-ray disc (BD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, solid state drives or other solid state storage devices, or other tangible and / or non-transitory media that can be used to store desired information. In this regard, the terms “tangible” or “non-transitory” herein as applied to storage, memory, or computer-readable media, are to be understood to exclude only propagating transitory signals per se as modifiers, and do not exclude any standard storage, memory, or computer-readable media that are not only propagating transitory signals per se.

[0089] Computer-readable storage media can be accessed by one or more local or remote computing devices, e.g., via access requests, queries, or other data retrieval protocols, for a variety of operations with respect to the information stored by the medium.

[0090] A system bus, as may be used herein, can be any of several types of bus structure that can further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and a local bus using any of a variety of commercially available bus architectures. A database, as may be used herein, can include basic input / output system (BIOS) that can be stored in a non-volatile memory such as ROM, EPROM, or EEPROM, with BIOS containing the basic routines that help to transfer information between elements within a computer, such as during startup. RAM can also include a high-speed RAM such as static RAM for caching data.

[0091] As employed in the subject specification, the term “processor” can refer to substantially any computing processing unit or device comprising, but not limited to comprising, single-core processors; single-core processors with software multithread execution capability; multi-coreAB663WO 10 / 33processors; multi-core processors with software multithread execution capability; multi-core processors with hardware multithread technology; vector processors; pipeline processors; parallel platforms; and parallel platforms with distributed shared memory. Additionally, a processor can refer to an integrated circuit, an application specific integrated circuit (ASIC), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic controller (PLC), a complex programmable logic device (CPLD), a state machine, a discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. Processors can exploit nano-scale architectures such as, but not limited to, molecular and quantum-dot based transistors, switches, and gates, in order to optimize space usage or enhance performance of user equipment. A processor may also be implemented as a combination of computing processing units. For example, a processor may be implemented as one or more processors together, tightly coupled, loosely coupled, or remotely located from each other. Multiple processing chips or multiple devices may share the performance of one or more functions described herein, and similarly, storage may be effected across a plurality of devices. A processor may be implemented to reside in a cloud-based network such as, e.g., the Internet.

[0092] The actions of a method or algorithm described in connection with the arrangements disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other known form of storage medium. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in functional equipment such as, e.g., a computer, a robot, a user terminal, a mobile telephone or tablet, a car, or an IP camera. In the alternative, the processor and the storage medium may reside as discrete components in such functional equipment. Additionally or alternatively, at least one of the processor and / or the storage medium may reside in a cloudbased network such as, e.g., the Internet.

[0093] Configurations of the present teachings are directed to computer systems for accomplishing the methods discussed in the description herein, and to computer readable media containing programs for accomplishing these methods. The raw data and results can be stored for future retrieval and processing, printed, displayed, transferred to another computer, and / or transferred elsewhere. Communications links can be wired or wireless, for example,AB663WO 11 / 33using cellular communication systems, military communications systems, and satellite communications systems. Parts of the system can operate on a computer having a variable number of CPUs. Other alternative computer platforms can be used.

[0094] The present configuration is also directed to software / firmware / hardware for accomplishing the methods discussed herein, and computer readable media storing software for accomplishing these methods. The various modules described herein can be accomplished on the same CPU, or can be accomplished on different CPUs. In compliance with the statute, the present configuration has been described in language more or less specific as to structural and methodical features. It is to be understood, however, that the present configuration is not limited to the specific features shown and described, since the means herein disclosed comprise nonexclusive forms of putting the present configuration into effect.

[0095] Methods can be, in whole or in part, implemented electronically. Signals representing actions taken by elements of the system and other disclosed configurations can travel over at least one live communications network. Control and data information can be electronically executed and stored on at least one computer-readable medium. The system can be implemented to execute on at least one computer node in at least one live communications network. Common forms of at least one computer-readable medium can include, for example, but not be limited to, a floppy disk, a flexible disk, a hard disk, magnetic tape, or any other magnetic medium, a compact disk read only memory or any other optical medium, punched cards, paper tape, or any other physical medium with patterns of holes, a random access memory, a programmable read only memory, and erasable programmable read only memory (EPROM), a Flash EPROM, or any other memory chip or cartridge, or any other medium from which a computer can read. Further, the at least one computer readable medium can contain graphs in any form, subject to appropriate licenses where necessary, including, but not limited to, Graphic Interchange Format (GIF), Joint Photographic Experts Group (JPEG), Portable Network Graphics (PNG), Scalable Vector Graphics (SVG), and Tagged Image File Format (TIFF).

[0096] Various arrangements are described herein. For simplicity of explanation, the methods or algorithms are depicted and described as a series of steps or actions. It is to be understood and appreciated that the various arrangements are not limited by the actions illustrated and / or by the order of actions. For example, actions can occur in various orders and / or concurrently, and with other actions not presented or described herein. Furthermore, not all illustrated actions may be required to implement the methods. In addition, the methods could alternatively be represented as a series of interrelated states via a state diagram or events. Additionally, theAB663WO 12 / 33methods described hereafter are capable of being stored on an article of manufacture, as defined herein, to facilitate transporting and transferring such methodologies to computers.

[0097] A balancing vehicle is shown in FIG. 3. The balancing vehicle includes a groundcontacting module 32 which, in the embodiment that is shown, is a pair of co-axial wheels powered by motors. A controller is coupled to the motor for providing a control signal in response to changes in the center of gravity of an assembly that includes the vehicle along with a rider. As the rider 10 mounts the vehicle, the controller module senses the change in the center of gravity 36 and controls power to the wheels 32 based upon changes to the center of gravity 36 about a fore-aft plane 42 using a control loop. As the center of gravity 36 moves forward in the fore direction, power is provided to the wheels and the vehicle will move forward. As the center of gravity moves in the aft direction in response to the movement of the rider, the vehicle will slow and reverse direction such that the vehicle moves in the aft direction. As a change in the center of gravity is sensed, torque is applied to one or more the wheels (or other ground contacting members) of the vehicle by operation of the control loop and a wheel actuator (not shown). The pitch of the vehicle may also be sensed and compensated for in the control loop. The control module includes gyroscopes for sensing changes in the position of the center of gravity. The vehicle that is shown includes a platform 12 for supporting the rider and a control stalk 14 and 16. Appropriate force transducers may be provided to sense leftward and rightward leaning and related controls provided to cause left and right turning as a result of the sensed leaning. The leaning may also be detected using proximity sensors. Similarly, the vehicle of this embodiment may be equipped with a foot- (or force-) actuated switch located on the platform 12 to activate the vehicle, in such a manner that the switch is closed so as to power the vehicle automatically when the subject contacts the platform 12. This embodiment further includes a support 34, 38, 40 for the rider; the support may include a seat 34 on which the rider can rest.

[0098] In a first embodiment, the seat 34 is attached to the control stalk 16 as shown in FIG. 3A. The rider 10 then uses his body and momentum to move the center of gravity of the combination of the vehicle and the rider in either a forward or in an aft direction. In another embodiment, the seat 34 is attached to the platform 12 via a pivot point 44 as shown in FIG. 3B. The pivot may be a simple pivot such that the pivot moves only in the fore and aft directions or the pivot may be a universal pivot so that the seat may pivot in any direction. One example of a universal pivot is a spring. Further, the pivot may be mounted to the platform along the axis of the wheels, or the pivot may be mounted at other locations such as along the rear edge of the platform.AB663WO 13 / 33

[0099] In yet another embodiment, a seat is attached to the platform using one or more rails 46 on which the seat 34 slides as shown in FIG. 3C. In such an embodiment, the movement of the seat 34 by the rider causes a change in the position of the center of gravity of the vehicle and its load. If the seat is moved in the fore direction sensors sense the resulting tilt of the vehicle and cause the vehicle to increase in speed in the fore direction. If the seat is slid in the aft direction, the vehicle 30 will slow down correspondingly. In certain embodiments of the invention, a centering mechanism, such as, a spring may be incorporated with either the pivot or sliding seat, so the seat will return to a position such that the vehicle is substantially stationary when a rider disengages from the vehicle. In another embodiment, as shown in FIG. 3D, a seat 50 is mounted to the platform 12. The seat and the linkage 52 to the platform does not include a pivot. The seat in this embodiment may extend the length of the platform. When a rider engages the vehicle and sits on the seat, the rider may adjust the center of gravity by sliding her body along the length of the seat.

[0100] In a further embodiment, the vehicle includes a bar linkage mechanism, such as a four bar linkage, that is attached to the control stalk as shown in FIG. 4A. The four bar linkage mechanism is also attached to a seat by another bar (seat post) which is coupled to the four bar linkage about a common pivot point of the four bar linkage or coupled to a bar in the linkage. The four bar linkage mechanism allows the seat to move in an arc which simulates a rocking motion similar to that of a rocking chair about the base platform as shown in FIG. 40. FIG. 4B shows one position of the four bar linkage 55 as would occur if a rider leaned backwards shifting the center of gravity in the aft direction. The rider both moves in the aft direction and also rotates in the aft direction and as such both, translation and rotation are coupled together. Viewed in another way, the four bar linkage allows the seat to move in an arc about a virtual pivot point. The virtual pivot point can be located at a point above the seat. In other embodiments, the virtual pivot point may be located below the seat. As the seat 34 both translates and rotates the center of gravity 35 moves in a straight line in the fore-aft plane as shown in FIG. 4D. In other embodiments, the center of gravity need not move in a straight line and the position of the center of gravity may vary. The motion of the seat creates a rider experience that is different from the seats discussed above in FIGS. 3A-3D. In this embodiment, there is no position that the seat automatically returns to. As such, there are no peaks or wells in terms of the amount of energy that is required to move the center of gravity. In this embodiment, no arm force is required to maintain a position of the center of gravity relative to the wheel axis as is the case with simple and universal pivots as shown in FIGS. 3A-3C. This allows both ease of pitch control and the ability of the rider to find the center of gravity position above the axle of theAB663WO 14 / 33vehicle so that the vehicle is substantially stationary. The virtual pivot mechanism allows the seated rider, to have a similar experience on the dynamically balancing vehicle that a standing rider would have.

[0101] In the version of the vehicle described with respect to FIGS. 4A-4E, the control stalk is held by the rider by a pair of hand grips that extend from the control stalk. As a rider sits on the seat, the seat can move about the fore-aft plane and the seat will both shift and rotate when the rider moves, thus changing the center of gravity.

[0102] Although the embodiment, shown above has a linkage mechanism for providing the coupling of rotation and translation, other structures and systems could also be designed to provide this functionality such as those shown in, but not limited to FIGS. 5A-E and FIGS. 6, 6A, 6B, and 60 and the present invention is not intended to be limited to mechanical linkages.

[0103] In a further embodiment, the four bar linkage includes non-rigid members that can flex. For example, FIG. 4E shows a support structure where members B and C each flex and member D is rigid as are the couplings of members B and C to platform A. In this embodiment members B and C are shown such that the two members lean inwards to meet member D. As force is placed on the seat through member D by the rider in the fore-aft direction, the members B and C will flex such that the seat will move in a rocking motion about a virtual pivot point that lies above the seat. The motion of members B and C is shown in FIG. 4E by the dotted lines. As such, member D which supports the seat will both translate and rotate. Further, pivots may be included in such an embodiment, so that the linkage both pivots and flexes. For instance, pivots may be placed at the point where member D comes into contact with members B and C as shown in the figure. In still another variation, members B and G may be positioned so rather than leaning inward, the two members are outward leaning. In this type of embodiment, the seat will move much like a rocking chair. If a rider leans in the fore direction the seat will translate in the fore direction and the seat will rotate such that the fore-most part of the seat will be lower than the aft-most part of the seat. This is different from the embodiment that is shown in FIG. 4E wherein if a rider causes the seat to translate in the fore direction, the seat will rotate such that the fore-most part of the seat is elevated as compared to the aft-most part of the seat.

[0104] FIGS. 5A-5E each show different embodiments in which both translation and rotation are coupled. In FIG. 5A the seat 34 is attached to a bar 58 via a pivot 60. The seat further includes a series of protrusions 62 formed in an arc which mesh with a sprocket 64. The sprocket 64 is attached to the bar 58 and can spin about an axis 66. The bar includes a second sprocket 67 which can rotate about a central axis 69. The sprockets 64, 67 each reside on a strip / track 70 that includes protrusions 72 that mesh with the sprockets 64, 67. As a user of theAB663WO 15 / 33vehicle moves the seat in a fore or aft direction the seat will translate and rotate due to the protrusions 62 that are formed in an arc and which are coupled to the seat. In other embodiments, the track on which the seat slides may have a different profile. For example, the track may be convex, concave, or have a varying profile along its length. If the track has a varying profile, the rider needs to apply more force to move the seat along certain portions of the track. Thus, different track profiles may be employed in order to shape the path of the center of gravity and the center of gravity need not move in a straight line.

[0105] In FIG. 5B the seat 34 attaches to a slider 75 about a pivot point 76. The slider fits on a rail 78 and the slider 75 can slide on the rail 78. Attached to the slider at the seat are at least two pulleys 79, 80. The pulleys 79, 80 are positioned toward opposite ends of the seat about the slider. One or more wires or cables 81 are attached to the seat and a fixed portion of the vehicle such as the rail. The cables 81 engage the pulleys 80, 79. As the seat is slid by the rider in the forward or aft direction, the pulleys cause the seat to tilt due to changing tension in the cables. The cables are coupled to either end of the rail 85, 86 or some other component of the vehicle and also to the seat at opposite ends 83, 84. In the embodiment as shown, there are two separate cables, one of which runs from rail end 86 across pulley 79 and attaches to the seat at 84. The second cable attaches to the seat at 83 and across pulley 80 and attaches at the rail end 85. If the seat is moved in the aft direction, the edge of the seat in the aft direction will be rotated and lowered. Similarly, if the seat is moved by the rider in the fore direction, the foremost part of the seat will rotate and will be lowered.

[0106] In FIG. 5C, the seat is coupled to a slider 87 about a pivot point 88. The slider 87 is seated on a rail 89 and provides for the seat to be slid in a fore and an aft direction. The seat also includes two extensions 34A, 34B that each have two wheels 90 mounted thereto. Between each pair of wheels is a straight track which includes an arc 89A, 89B at each end of the track. As the seat is slid in either the fore or the aft direction the wheels roll along the arc and cause the seat to tilt about the pivot point. It can be imagined that the track has a varying curvature, such that the center portion of the track is itself curved and that the ends have a greater radius of curvature as compared to the center.

[0107] In FIG. 5D, the seat 34 rides on a track 200. The seat 34 is coupled to a transmission 210 by a pivot 220. The transmission is coupled to a pair of friction wheels 225, 230. In this embodiment, translation of the seat 34 is directly coupled to rotation of the seat. As the seat is moved by the rider and the friction wheels rotate along the track the seat will also rotate. In the embodiment that is shown, the wheels rotate a greater amount than the pivot rotates the seat. The transmission therefore, causes the seat to pivot / rotate at a fraction of the rotation of theAB663WO 16 / 33friction wheels. It should be understood that all of the tracks that are shown in FIGS. 5A-5D may be the same length as the platform or may extend beyond the length of the platform in the fore-aft direction or may be shorter than the length of the platform. The support structure also will include a mechanism for holding the track at a proper seat height. For example, the track may be mounted to the control stalk, or may sit on its own mounting structure that is coupled to the platform. For example, the mounting structure may be a shaft.

[0108] FIG. 6 shows a side view of an embodiment of the dynamically balancing vehicle with a detachable rocker seat. The rocker seat includes a support structure 95. The bottom portion of the support structure contacts the platform and is shaped like an arc 97 allowing the seat 34 to rock. The arc shaped lower member 97 of the support structure 95 is coupled to the platform 12 via a moving contact point. The arc shaped member 97 member rotates equally in the fore and aft plane in this embodiment. Although in other embodiments, rotation may be limited in either the fore or aft direction. The support structure may also be coupled to the platform via a pair of rails. In this embodiment, the support structure rests on the rails that the rails include a mechanism that constrains the support structure from moving in any other plane other than the fore-aft plane. In such an embodiment, the arch shaped lower portion of the support structure is not coupled to the platform at a contact point. In such an embodiment, the arc shaped member may roll on a series of rails or wheels. In another embodiment, the support structure may include a guide pin that extends through the support structure and is enclosed by the rails on either side of the support structure. In such an embodiment, the seat can rock in the fore-aft direction about a virtual pivot that is above the seat. It should be understood that a virtual pivot point need not be above the seat, in certain embodiments, the virtual pivot point may exist below the seat, for example.

[0109] It should be recognized, that the lower surface of the support structure that is formed in an arc may have any number of radii. For example, the lower surface may have a greater curvature at the edges and less of a curvature at its center, so that as the support structure rocks about its central portion, each unit of translation there is proportional to a degree of rotation, but as the support structure is rocked further toward the edges, there is a greater degree of rotation for each unit of translation.

[0110] In another version, the lower surface of the support structure 150 includes two pins 160, 165 at the edges of the arc as shown in FIG. 5E. As the support structure rocks 170 to the edge, one of the pins 160 or 165 will engage with a recess 160A or 165A in the platform 12. If the rider continues to lean in the same direction, the support structure will rotate about the pin 160 or 165. Thus, there are two different ratios of translation to rotation for this embodiment. As theAB663WO 17 / 33support structure 170 rocks about the arc there is less rotation for each unit of translation as compared to motion about the pin 160 or 165 in which there is rotation without translation when the pin engages with the recess of the platform.

[0111] The embodiment of FIG. 6, in which the support structure has an arc as the lower surface, may be coupled to the platform in any one of a number of ways. For example, gravity may hold the support structure on the platform 12. Further, the platform surface and the bottom surface of the support structure may be formed from materials having a high coefficient of friction. In another embodiment, as shown in FIG. 6A, the support structure 300 may be attached to the platform 12 via a simple cable 310 under tension (including a spring 310A). In this embodiment, as the support structure rocks about the arc of the bottom surface 300A, the spring 310A stretches, and thus there is a restoring force returning the support structure 300 to a centered position as shown. As shown in FIG. 6B, the support structure 400 may include a series of teeth 410 on the bottom arced surface 400A and the platform 12 may include a series of mating teeth 420 for the bottom surface. As the support structure rocks the teeth of the bottom surface and of the platform interlock. In FIG. 6C, the support structure 500 is coupled to the platform 12 about a pivot point 510. The pivot 510 is coupled to a member 520 which extends down through the platform and which in this embodiment, rides on a pair of wheels 530. In this embodiment, the member 520 is rigid. As force is applied to the support structure 500 by the rider in the fore-aft directions, the support structure 500 will translate and the wheels 530 will rotate on the bottom side of the platform as shown. The support structure 500 will also rotate about the pivot point 510 due to the arched bottom side of the support structure 500A. In this embodiment, the support structure 500 will maintain contact with the platform at all times, including over rough terrain. Again, it should be recognized, that other mechanisms for coupling the support structure to the platform can be envisioned and the present invention should not be limited by the embodiments that are shown.

[0112] In one embodiment, the platform of the vehicle includes one or more pressure sensors to sense the rider either engaging or disengaging from the vehicle. When the rider powers-up the vehicle and engages the vehicle, the vehicles enters a balancing mode. A control loop is made operational that senses changes to the position of the center of gravity and that causes the vehicle to move with respect to the changes. If the vehicle includes a seat, the rider may not engage the pressure sensors because her feet may not make contact with the platform or the rider may remove her feet from the platform. In order to overcome this problem, sensors, such as pressure sensors, may be included in the seat. In another embodiment, a mechanical deviceAB663WO 18 / 33such as a link or tube may be employed to make contact with the platform when the rider engages the vehicle.

[0113] The support structure may be designed to either fold or compress in order to allow for the rider to better engage / disengage with the vehicle and also for shock absorption. For example FIGS. 7A-C shows a folding seat which may be employed with the previously described vehicles. In FIG. 7A the seat is in full view and is positioned as if a rider is sitting on the seat. The sides of the seat expand in an outward direction like an accordion when weight is put on the seat. FIG. 7B shows a rider sitting on the seat. FIG. 70 shows the position of the seat when a rider 10 engages / disengages with the vehicle. If the rider is already on the vehicle, the seat 34 rises up and folds as the rider stands and the support structure 92 contracts inwardly reducing the size of the support.

[0114] The support structure for the seat may also include a mechanism for allowing lateral movement in a plane substantially perpendicular to the fore-aft plane of the vehicle. The vehicle may include sensors to sense the lateral movement. The sensors can be tied into a control loop so that if a rider leans to the right more power is applied to the left wheel allowing the vehicle to turn to the right. In other embodiments of the support structure, lateral movement may not be tied to sensors and a control loop, but may simply perform the function of allowing the rider to readily shift his or her weight of over rough terrain.

[0115] The support structure may also include knee rests 290 as shown in FIG. 7D to allow more consistent rider coupling to the vehicle and to provide postural advantage and / or partial body support.

[0116] FIG. 8 shows another embodiment, in which the seat 34 both translates and rotates. An embodiment couples translation and rotation. In this embodiment, there are force sensors 120 in the seat. As a rider shifts his weight on the seat 34, the force sensors 120 sense the change. Based upon the changes in force, both a linear actuator 125 and a rotational actuator 130 are engaged. If the rider shifts his weight such that more weight is provided to force sensor A than to B, the linear actuator 125 will cause translation of the seat in the fore direction. Additionally, the seat will be rotated in the fore direction by the rotational actuator 130, such that the foremost part of the seat will be lowered and the aft-most part of the seat will be raised. The embodiment as shown also includes a linear actuator 135 that provides linear motion in the vertical direction. This actuator 135 makes engagement and disengagement with the vehicle easier. In this embodiment, both translation and rotation are controlled by mechanical actuators. Using mechanical actuators for providing translation and rotation of the seat, assists individuals having a reduced strength capacity when compared to the simpler mechanical designs thatAB663WO 19 / 33require the rider to manually shift the position of the seat, to significantly shift their weight using their own strength, and to maintain a position of either leaning in the fore or in the aft direction using their muscle strength.

[0117] Referring to Figs. 9A and B, an embodiment of a mobility device 600 configured according to principles of the invention includes a ground-contacting module 605 including a base 610. Base 610 contains a motor (not shown) and a transmission (not shown) that drives wheels 615, similar to ground-contacting module 32. Mobility device 600 has a controller (not shown) similar to that described with respect to the foregoing embodiments, which provides control signals in response to user inputs and / or changes in the center of gravity. Mobility device 600 includes an adjustable seat 620 that may have an adjustable back rest 625.

[0118] The invention includes a method of throttling and a throttle for a mobility device that is gravity independent and ergonomically accommodating. To this end, an embodiment of mobility device 600 includes a controller (not shown) that also is responsive to a throttle disposed on a handle bar 640 (Fig. 11) extending from a control stalk 630. The throttle may be invoked for controlling vehicle velocity via either of grips 635a and 635b.

[0119] Referring to Fig. 10, while either of grips 635a and 635b may actuate throttling and controlling the velocity of mobility device 600, for simplicity, only grip 635b is shown defining such throttle. As such, rotating grip 635b relative to handle bar 640 defines an arc 645 in either of two directions about a rotational axis 650 of grip 635b. Rotating grip 635b generally counterclockwise as shown in Fig. 10 defines a tangent vector 655 above or vertically superior to rotational axis 650 that generally corresponds with an intended direction of travel 660 for mobility device 600, in this case, toward the left side of the page corresponding with mobility device 600 moving forwardly. Rotating grip 635b generally clockwise would define an opposite tangent vector (not shown) above or vertically superior to rotational axis 650 that generally corresponds with an intended direction of travel (not shown) opposite to direction of travel 660 corresponding with mobility device 600 moving backwardly.

[0120] Referring to Figs. 11 and 12, an embodiment of a throttle configured according to principles of the invention includes a sleeve or throttle tube 665 that is rotatingly mounted on handle bar 640. A throttle clamp 670 mounts on handle bar 640 and captures a ball bearing package 675 against a shoulder 680 of throttle tube 665, thereby retaining one end 677 of throttle tube 665 on handle bar 640.

[0121] The other end 679 of throttle tube 665 defines a cup 685 that retains one end 691 of a pin 690. The other end 693 of pin 690 is rotatingly mounted on handle bar 640 with a secondAB663WO 20 / 33ball bearing package 695. Thus, throttle tube 665 is rotatingly mounted on handle bar 640 via pin 690 and ball bearing packages 675 and 695.

[0122] Referring also to Fig. 13, a torsion bar 700 has one end 701 that is flared and configured to be received in opposing slots 703 in handle bar 640. End 701 is secured in place by a threaded fastener 705 received through a threaded bore 707 in handle bar 640 and a threaded bore 708 in with a torsion bar 700. The other end of torsion bar 700 is fixed relative to throttle tube 665 with a torsion bar coupling 710 that is received through a slot 715 in handle bar 640. Slot 715 is configured so that throttle tube 665 may rotate throughout a range of motion without torsion bar coupling 710 interfering with an edge of slot 715 that would inhibit motion.

[0123] Referring again to Fig. 11 , a Hall sensor 720 is mounted on throttle clamp 670 and responsive to a Hall sensor magnet 725 mounted on throttle tube 665. Thus, rotating throttle tube 665 relative to handle bar 640 correspondingly moves Hall sensor magnet 725 relative to Hall sensor 720. Hall sensor 720 emits a signal that corresponds to this relative movement. Controller (not shown) is configured to receive and respond to the signal and then instruct a drive controller accordingly to adjust the velocity of mobile device 600 accordingly.

[0124] Grip 635 mounts on throttle tube 665 with an interference fit or other suitable convention so that grip 730 remains on and transmits a user’s rotational force thereon to throttle tube 665.

[0125] As used herein, “longitudinal” refers generally to an orientation that is aligned with travel direction 660, as shown in Fig. 10, but not necessarily having a direction. “Latitudinal” refers generally to an orientation that is orthogonal to longitudinal and aligned with a surface on which the mobility device is.

[0126] Referring again to Figs. 9 and 10, an embodiment of a mobility device 600 configured according to principles of the invention provides for integrating multiple inputs pertaining to the same intended motion. For example, an embodiment of the invention provides for recognizing an input respecting a user’s intent to move mobility device 600 from the user leaning and causing a center of gravity of mobility device 600 (including user) to move forward. Another embodiment recognizes the input from the user’s altering the center of gravity by redistributing weight on a platform supporting the user, such as seat 620. Another embodiment recognizes the input from the user’s tilting the platform relative to the mobility device without changing the center of gravity.

[0127] Additionally or alternatively, an embodiment of the invention provides for recognizing an input respecting a user’s intent to move mobility device 600 from the user rotating throttle 635b as described above.AB663WO 21 / 33

[0128] Referring to Fig. 14, additionally or alternatively, an embodiment of the invention provides for recognizing an input respecting a user’s intent to move a mobility device from the user actuating a four-bar linkage 800 along or opposite to direction 805. Four-bar linkage 800 includes mounting arms 810a,b that are pivotally mounted on a handlebar 815 with respective collars 820 a,b via respective pins 825a, b. Mounting arms 810a,b are pivotally mounted on a stalk (not shown) with a mounting block 830 via pins 835a, b. Plates 840a-d are pivotally mounted relative to mounting block 830 via pins 835a, b, with plates 840a, b being biased toward plates 840c, d via a spring 845. Slots 850 a,b in respective plates 840a, b and 840c, d receive respective pins 855a, b received through respective mounting arms 810a,b. Plates 840a, b and 840c, d receive respective pins 860a, b that abut mounting block 830 when four-bar linkage 800 is at rest. A potentiometer (not shown) is responsive to the configuration and / or position relative to the stalk (not shown) of four-bar linkage 800. Rather than the potentiometer, an embodiment of the invention may employ a Hall effect sensor and magnet.

[0129] In operation, urging handlebar 815 in direction 805 causes mounting arm 810a and pin 855a to rotate plates 840a, b counterclockwise relative to the page. Pin 860b prevents plates 840c, d from rotating responsive to tension of spring 845. Slot 850b permits mounting arm 810b and pin 855b to rotate relative to plates 840c, d. The potentiometer (not shown) registers the configuration and / or relative movement as user input.

[0130] While direction 805 is shown being generally latitudinally oriented relative to the mobility device, the invention encompasses configurations of four-bar linkage 800 that enables or is responsive to longitudinal actuation.

[0131] Referring to Fig. 15A, an embodiment of a four-bar linkage 1800 configured according to principles of the invention includes arms 1810a,b that are pivotally mounted on a handlebar 1815 with respective collars 1820a,b via respective fasteners 1825a,b. Arms 1810a,b are pivotally mounted on a stalk 630 with a block 1830 via pins 1835a,b.

[0132] Referring also to Figs. 15B and 31 A, a centering flexure 1823 serves as a linear spring to drive handlebar 1815 to the center position laterally. Centering flexure 1823, while providing a centering force, does NOT provide any preload to this force. Without a preload to the centering force, an excessive mechanical hysteresis to the mechanism would exist. One way to avoid mechanical hysteresis is to provide a large deadband to the steering sensor input. However, a large deadband would cause the steering system to feel unresponsive and sloppy.

[0133] Referring to Figs. 15A, 15C and 31 B, an embodiment of the invention introduces a centering preload force to the mechanism with a Torsion Spring Pack. The Torsion Spring Pack contains two torsion springs 1840a,b that are retained by a guard 1885 onto a retainer 1835AB663WO 22 / 33mounted on block 1830. Each torsion spring 1840a,b is preloaded against a spring preload post 1850, which it contacts ever so slightly before it makes contact with a handlebar reaction pin 1870. A centering arm 1855 has one end 1860 fixed relative to handlebar 1815 with a fastener 1865 and another end from which a centering pin 1870 extends. In the present embodiment, the centering preload force is adjustable based on which hole 1873a,b ground reaction pin is placed (there is one for each spring, as shown). This allows setting handlebar stiffness according to user preferences.

[0134] With the addition of the centering preload to four-bar linkage 1800, the steering sensor deadband can be reduced to an absolute minimum, resulting in greatly improved steering performance, and a crisp, responsive steering feel for the rider.

[0135] In operation, urging handlebar 1815 in direction 1805 causes arms 1810a,b to rotate counterclockwise relative to the page. Centering arm 1855 moves with handlebar 1815 and causes centering pin 1870 to urge end 1845a of spring 1840a away from stop 1850. This causes handlebar 1815 to exhibit a force that resists displacement or movement along direction 1805 corresponding to an amount that handlebar 1815 is displaced. Thus, four-bar linkage 1800 is biased toward a centered position, as shown. A Hall effect sensor 1875 is responsive to movement of a magnet 1880 disposed on four-bar linkage 1800. Sensor 1875 registers the movement as user input.

[0136] Referring to Fig. 16, additionally or alternatively, an embodiment of the invention provides for recognizing an input respecting a user’s intent to move mobility device 600 along travel direction 660 from the user’s actuating a joystick 900 as is well known.

[0137] Referring to Fig. 17, additionally or alternatively, an embodiment of the invention provides for recognizing an input respecting a user’s intent to move mobility device 600 along travel direction 660 from the user’s pivoting of a stalk 1000. An embodiment of the invention enables pivoting stalk 1000 so as to describe an arc 1005 that is oriented generally longitudinally relative to mobility device 600, hence aligned with direction 660. An embodiment of the invention enables pivoting stalk 1000 so as to describe an arc 1005 that is oriented generally laterally relative to mobility device 600, hence orthogonal to direction 660.

[0138] Referring to Figs. 18A and 18B, an embodiment of the invention enables pivoting stalk 1000, longitudinally or laterally, via a steering pivot spring sensor module 1010. Stalk 1000 is retained in module 1010 via shaft bearings 1015. Elastomeric springs 1020 circumferentially diverged about stalk 1000 enable pivoting stalk 1000 relative to module 1010 with springs 1020 resisting pivoting sufficiently to return stalk 1000 to a neutral home position. An angle sensor 1025 registers a pivot or relative displacement as user input.AB663WO 23 / 33

[0139] Referring to Fig. 19, additionally or alternatively, an embodiment of the invention provides for recognizing an input respecting a user’s intent to turn a mobility device from the user pivoting a handlebar 1100 about a generally vertical axis 1105 relative to a support (not shown) fixed relative to mobility device 600. An angle sensor (not shown) registers user input as having longitudinal and lateral components corresponding to an extent that handlebar 1100 is rotated.

[0140] Additionally or alternatively, an embodiment of the invention provides for recognizing an input respecting a user’s intent to move a mobility device along travel direction 660 from the user’s audible and / or visual command.

[0141] An embodiment of the invention includes defining, based on multiple raw inputs (such as preferred pitch angle) and / or user inputs (such as desired velocity), a composite input that is transmitted to appropriate controllers and motor drives that balance and move MD 600.Defining the composite input is based on one or more of: summing the inputs; absolute differences among the inputs; averaging the inputs; voiding one or more of the inputs; and reducing an input by an amount based on another input. An embodiment of the invention includes defining the composite input after the user inputs are multiplied by respective appropriate gains. Each gain may be set according to a preference as to how a user input should be prioritized.

[0142] Referring to Figs. 20 and 21 , an embodiment of the invention recognizes inputs for the closed loop controller including the following direct inputs: a user control (UC) commanded velocity 1400 indicative of a velocity that a user desires for MD 600 based on one or more input modes (lean, throttle, etc.); and a target balance angle of the supporting structure 1410, such as a seat, as set by a balance controller. The feedback inputs include: a measured encoder position 1405 that is indicative of the actual velocity of MD 600; a measured pitch angle 1415 of the structure 1410 relative to gravity based on an inertial measurement unit (IMU); and a measured pitch rate 1420 that is indicative of how quickly the structure 1410 pitches relative to gravity based on another IMU.

[0143] Referring to Fig. 21 , in this embodiment, each input has a gain applied on it depending on which balance mode is active for MD 600 operations. For example, during normal balancing, a predefined list of gains is applied. If a kickstand 1200, described below, is deploying, a different set of gains is applied.

[0144] Referring to Figs. 30A-30D, another embodiment of the invention includes controlling mobility device 600 according to other closed loop controls. As shown in Fig. 30A, regarding the position of mobility device 600, one control enables mobility device 600 to remain generallyAB663WO 24 / 33in place, when not commanded to move, while maintaining the balance of the user-mobility device 600 combination. Thus, the input is zero and the feedback is based on the actual position, more specifically a signal from a position sensor that responds to a position of a wheel and / or travel surface relative to mobility device 600. Because mobility device 600 is intended to respond to a user’s leaning or shifting the center of gravity by commanding mobility device 600 to move in a direction that corresponds to the user’s lean or center of gravity shift, the control loop includes a limit or threshold at which mobility device 600 ceases attempting to balance in place and instead move as the user intends.

[0145] As shown in Fig. 30B, regarding the velocity of mobility device 600, an embodiment of a control receives a signal corresponding to a user command respecting a desired travel velocity as indicated by, for example, a throttle control as described above. The command signal is fed into a closed loop controller as a feed-forward command to generate a forward voltage. A command shape filter may smooth the input command. As with the control of Fig. 30A, the feedback is based on the actual, measured velocity. This generates the required non-zero phase behavior of pitching forward the center of gravity of mobility device when the device is at zero or below a commanded speed. The user can also command the device forward by leaning their center of gravity forward to generate the required conditions for the device to accelerate forward. The same behavior is present in reverse.

[0146] As shown in Fig. 30C, regarding the pitch angle of mobility device 600, an embodiment of a control of mobility device 600 enables the user to set a desired balance angle within certain operational limits. Similar to the control of Fig. 30A, the input is a command that corresponds to the desired angle, and the feedback is based on the actual, measured pitch angle.

[0147] Referring to Fig. 30D, regarding the pitch rate of mobility device 600, an embodiment of a control of mobility device 600 is configured to avoid excessive pitching, such as might be caused by a snag in a rug or leaning too quickly, either of which potentially causing the user to fall out of mobility device 600 and suffer injury. Similar to the position control of Fig. 30A, mobility device 600 is intended to remain at a set pitch angle, absent the user commanding vehicle motion via leaning. Accordingly, the input is zero and the feedback is based on the actual, measured pitch rate.

[0148] Referring to Figs. 22, 23A and 23B, an embodiment of the invention includes enabling stalk 630 to be selectably detachable from mobility device 600. This capability may facilitate user ingress and egress by eliminating unobstructed access to seat 620.

[0149] An embodiment of the invention provides for detaching stalk 630 from mobility device 600 by urging a sleeve 1300 relative to housing 1305 in a direction generally away from theAB663WO 25 / 33socket 1310 on MD 600, which unlatches stalk 630 from a socket 1310 on MD 600. Socket 1310 is configured to mechanically maintain stalk 630 and provide electrical connections for powering and communications with controllers and mechanical components in the head 633 of stalk 630 and the controllers and mechanical components of MD 600.

[0150] Referring also to Figs. 24, 25, 27A and 27B, sleeve 1300 is fixed relative to a spring-loaded band 1315. Band 1315 is pivotally mounted on one end of a first arm 1320, with the other end of first arm rotatingly mounted to a rotatable stop 1325. A second arm 1330 has one end pivotally mounted relative to housing 1305, with the other end of second arm 1330 rotatingly mounted to stop 1325. In operation, when sleeve 1300 moves up relative housing 1305, band 1315 correspondingly is drawn upwardly against a spring bias and causes first arm 1320 to rotate in a first direction 1335 and second arm 1330 to rotate in a second direction 1340. This withdraws stop 1325 into housing 1305 along a direction 1345 and defines a retracted position, as shown in Fig 27B. Once in the retracted position, stop 1325 is not positioned to interfere with a pin 1350 that is fixed relative to socket 1310, which enables ready removal of stalk 630 from socket 1310.

[0151] Re-attaching stalk 630 to MD 600 is essentially the reverse of the above, except that sleeve 1300 need not be manipulated to withdraw stop 1325 into housing. As stalk 630 is eased into socket 1310, pin 1350 urges stop 1325 inwardly against the bias spring and, after descending beyond pin 1350, stop 1325 is urged back into the locked position of Fig. 27A by the biasing spring. The asymmetry of first arm 1320 and second arm 1330 causes a mechanical advantage in the insertion direction, but not the removal direction, thus of prevents pin 1350 from dislodging stop 1325 when stalk 630 is urged in the removal direction.

[0152] Referring to Figs. 23B and 27C, an embodiment of the invention includes, simultaneously with attaching and detaching stalk 630 to / from mobility device 600, connecting / disconnecting various electrical contacts for power and / or communications with controls and a user interface 637, described below, in head 633. A first electrical connector 1355 is fixed relative to socket 1310 and / or mobility device 600 so that it comes into registry with and forms electrical connections with a second electrical connector 1360 that is fixed relative to stalk 630. Wires 1357 operatively or electrically connected with connector 1355 are connected to, for example, but not limited to, a power source and controllers for the various processing, controlling and drive components of mobility device 600 consistent with and to the extent needed for mobility device 600 to respond to a user and operate as described herein. Similarly, wires 1365 operatively or electrically connected with connector 1360 convey powerAB663WO 26 / 33and / or communications to / from components in head 633 consistent with and to the extent needed for mobility device 600 to respond to a user and operate as described herein.

[0153] Referring to Figs. 28 and 29, an embodiment of the invention includes a system for and method of determining the center of gravity of a mobility device 600 and user U. Such determination aids in relative positioning of the seat 620 of the mobility device, condition enabling operability of the mobility device based thereon, and counter unexpected pitching.

[0154] Referring to Fig. 28, an embodiment of a system 1200 for determining the center of gravity of mobility device 600 includes opposing “kickstand” members 1205a,b having terminal wheels 1210a,b. Members 1205a,b are pivotally mounted on mobility device 600 by a pin or fastener 1215. An embodiment of system 1200 includes actuators 1220a,b, each having a respective housing 1225a,b pivotally connected to mobility device 600 via a pin or fastener 1230a, b and a plunger 1235a, b connected to a member 1205a, b via a pin or fastener 1240a, b.

[0155] In operation, a user mounts mobility device 600 and assumes a position that the user is likely to have while operating mobility device 600. Once situated, the user initiates a routine for determining the center of gravity for the system including the user and mobility device 600.

[0156] Referring also to Fig. 29, once the routine is initiated, an embodiment of system 1200 includes the controller instructing actuators 1220a,b to rotate members 1205 until wheels 1210a,b contact the surface S on which mobility device 600 is situated. When determining a center of gravity, the CG controller evaluates an amount of force that each actuator 1220a,b exerts against member 1205a,b / wheel 1210a,b and surface S, a force F1 associated with wheel 1210a and a force F2 associated with wheel 1210b. The force amounts associated with each actuator 1220a,b are used in calculating a center of gravity from the left wheel 1210a toward the right wheel 1210b according to Formula 1 below.Formula 1 CG = L * F2 / F1

[0157] An embodiment of the invention includes disabling mobility device 600 if the value determined for CG is incompatible with the ability of the controller to operate mobility device 600, for example, if the CG value exceeds a limit wherein the balance controller is able to maintain the proper orientation of mobility device 600 when in use, as described above.

[0158] An embodiment of the invention includes traction control that urges mobility device 600 into a stable configuration in response to perceived instability. For example, if mobility device 600 senses that the position of the center of gravity is beyond a threshold, too far forward or backward of a range of locations within which mobility device 600 is deemed to operate safely, then mobility device 600 induces an acceleration in a direction to cause the center of gravity to move within the acceptable or safe range. For example, if mobility device 600 moving forwardlyAB663WO 27 / 33at a velocity were to encounter a bump or pothole having a size that substantially and suddenly reduced the velocity, then mobility device 600 might rotate or pitch forwardly, potentially ejecting the user. To counter such situations, the controller issues a command that causes the wheels to accelerate mobility device 600 forwardly and reduce the pitch and likelihood of user ejection.

[0159] Referring again to Fig. 23B, an embodiment of the invention includes providing mobility device 600 with a variety of operational modes. The modes include, but are not limited to: parking mode; driving / balancing mode; and car mode. Modes are selected via buttons and a screen on the handlebar

[0160] An embodiment of the invention includes a “follow mode” wherein a user may guide operation of a two-wheeled transporter while walking alongside or behind the transporter rather than being supported by it as in ordinary operation of the transporter. This embodiment is similar to and incorporates by reference the “follow mode” described in U.S. Pat. No. 7,779,939. When “follow mode” is selected, mobility device 600 discards the location of the center of gravity determined when a user is seated on mobility device 600 and instead uses a location based on when mobility device 600 is unoccupied. The location may be a pre-determined value or determined at the time the “follow mode” is selected with the kickstand 1200 as described above.

[0161] Referring to Figs. 23B and 32A-C, an embodiment of the invention includes controlling mobility device 600 via a user interface (Ul) 637 including a display 647 on head 633. Ul 637 may be responsive to touch, buttons 642 proximate to the display and / or inputs identified or indicated by the display of user interface 633, such as manipulating handlebars and leaning.

[0162] On startup, when mobility device 600 is energized, Ul 637 initially shows a display 1500. Thereafter, Ul 637 shows a “Drive_Screen_Parked” display 1505 to indicate that mobility device 600 is in a parked state. At this point, the user has a couple options. If the user short-selects the power button, that is, less than a duration that Ul 637 would recognize as a “power down” command, Ul 637 will change mobility device 600 from a parked condition into a selected system drive setting, such as associated with a “Drive_Screen_Rabbit” display 1510 or a “Drive_Screen_Turtle” display 1515, which may be associated with slower speed range availability than display 1510. If the user presses a menu button 642 while on one of the Drive Screens 1510 or 1515, Ul 637 will display a corresponding menu screen selection to indicate the selected mode. For non-limiting examples: if the “Drive_Screen_Parked” display 1505 were displayed, then the display would change to a “Menu_Screen_Parked” display 1520; if the “Drive_Screen_Turtle” display 1515 were displayed, then the display would change to aAB663WO 28 / 33“Menu_Screen_Turtle” display 1525; if the “Drive_Screen_Rabbit” display 1510 were displayed, then the display would change to a “Menu_Screen_Rabbit” display 1530.

[0163] While on the menu screen, the user can use the menu button to toggle among the three mode screens noted above, as well as a third described below. While on any selection, the user can press a horn / acknowledge button to confirm the selection after which the corresponding Drive_Screen would be shown.

[0164] Referring also to Fig. 32B, another possible selection is referred to as “haul mode” associated with a screen 1535. Upon confirming selection of this mode, Ul 637 initiates a series of screens that guide the user through steps for conditioning and then positioning mobility device 600 for storage and / or transportation. A first screen 1540 and a second screen 1545 toggle at a rate that instructs the user to exit mobility device 600.

[0165] Once mobility device 600 senses a change in weight that is indicative of the user having exited mobility device 600, Ul 637 displays in a repeated series screens 1550, 1555 and 1560 that instructs the user to push the “haul” button, which may be one of buttons 642 or located elsewhere on mobility device 600.

[0166] Upon selecting the “haul” button, mobility device re-assesses the center of gravity of the device, as described above in connection with “follow mode.”

[0167] After the “haul button” routines are complete, Ul 637 progresses to toggling screens 1565 and 1570 that instructs the user to remove stalk 630 from mobility device 600. At this point, the user is able to command mobility device 600, such as by the throttle described above, to move, for example up a ramp or into a storage area.

[0168] Referring to Figs. 33 and 36, an embodiment of the invention includes a method 1600 of stabilizing mobility device 600. Method 1600 is particularly useful in countering and / or managing significant discontinuities or disturbances encountered while traversing, not limited to rug snags, rocks, potholes and the like. Graph 1700 of Fig. 33 charts voltage over time for a velocity command 1705 having a voltage that corresponds to a desired velocity that a user registers, e.g. via throttle 635a (Fig. 9A); a raw wheel command 1710 having a voltage that a motor controller (not shown) transmits to a motor drive (not shown); and a slip fault signal 1715 having a voltage that corresponds to a velocity and / or acceleration of mobility device 600 that is determined from a rotational position and angular acceleration of wheel 615 relative to mobility device 600. At a time 1720 (approximately 5250 ms on graph 1700), mobility device 600 determines that a slip condition exists, as indicated by the steep ramp in slip fault signal 1715. The condition may be due to, e.g. attempting to climb a curb and a wheel losing traction.Throttle controller (not shown) significantly increases velocity command 1705, as may beAB663WO 29 / 33observed in the spike occurring shortly after time 1720, to instruct the motor controller (not shown) to increase motor speed to achieve the desired velocity. Without control, motor controller (not shown) would respond to velocity command 1705 and transmit a corresponding spike in the raw wheel command 1710. In such case, mobility device 600 would become catastrophically unstable and likely tip. To avoid this unfortunate situation, this embodiment of the invention limits the voltage of raw wheel command 1710 to an amount, in this case 20 volts, which reduces unbridled acceleration. However, as may be understood from the jagged curve of raw wheel command 1710 and bumpiness of slip fault signal 1715, this solution causes an uncomfortable and / or discomfiting ride for the user.

[0169] Referring to Fig. 34, to avoid the uncomfortable ride of the voltage-limiting solution, an embodiment of method 1600 includes a step 1605 of slewing the voltage from motor controller (not shown) to the motor drive (not shown). Graph 1800 of Fig. 34 charts voltage over time for a velocity command 1805, which is similar to velocity command 1705, a raw wheel command 1810, which is similar to raw wheel command 1710, and a slip fault signal 1815, which is similar to slip fault signal 1715. At time 1820, mobility device 600 detects a slip condition, as indicated by the steep ramp in slip fault signal 1815. Velocity command 1805 increases as described above. Motor controller (not shown) responds to command 1805 and slews the voltage of raw wheel command 1810 to increase or decrease, e.g. by no more than 0.4 volts every 5 ms. As may be inferred from the smoothness and eventual zeroing out of slip fault signal 1815, slewing raw wheel command 1810 provides a much more comfortable, stable ride.

[0170] Another embodiment of the invention factors into the slew rate a velocity of mobility device 600. As velocity increases, mobility device 600 will have to respond to or correct for slips and traction issues faster than when encountered at slower velocities.

[0171] Referring also to Fig. 35, whereas the foregoing embodiment of the invention triggers step 1605 based on analysis of changes in velocity and / or acceleration of mobility device 600 (VA model), another embodiment triggers step 1605 based on analysis of changes in a momentum of mobility device 600 (M model). The VA model evaluates changes in the rotation of wheel 615 based on signals from an encoder or wheel position sensor (not shown). The M model evaluates changes in wheel rotation as well as changes in the current draw from motor drive (not shown), which corresponds to torque, momentum (I) being calculated according to Formula 2 below.Formula 2 I = T / or

[0172] where T is torque (N m) and a is angular acceleration (radians / s2).AB663WO 30 / 33

[0173] Graph 19 charts amperage over time for true acceleration 1905 having a current that corresponds to velocity command 1805; a current signal 1910 having a current that corresponds to raw wheel command 1810; and slip fault signal 1915 having a current that corresponds to slip fault signal 1815. The rise of slip fault signal 1915 between time 1925 and time 1920 corresponds to an increase in torque as mobility device 600 initiates ascent. Upon reaching time 1920, wheel 615 of mobility device 600 experiences significant resistance to forward motion, as indicated by the sharp downward spike in true acceleration 1905, while exerting higher torque, as indicated by current signal 1910. Shortly thereafter, traction decreases, as indicated by the sharp upward spike of true acceleration 1905, while exerting less torque, as indicated by current signal 1910. Thereafter, acceleration 1905 increases and exhibits noise that is typical to sensors as mobility device 600 falls and the controller commands a high velocity to correct it and prevent falling.

[0174] Referring to Fig. 36, graph 2000 compares the VA model and M model detection methods and charts a number of wheel sensor counts / (number of frames)2over time for: an acceleration signal 2005 having a current that corresponds with true acceleration 1905; a current signal 2010 having a current that corresponds with current signal 1910; a slipfault signal 2015 having a current that corresponds with slip fault signal 1915; an altSlipFault signal 2025 having a value that is calculated according to Formula 2 above; and a ReverseMoi signal 2030 having a value that is the inverse of the moment of inertia calculated according to Formula 2 above. In this curb-climbing episode, the altSlipFault signal 2015 already is true or active at time 2035 when the Reverse Mol signal 2030 finally exceeds an arbitrarily chosen threshold, here selected to be about 2.2 (m / s2) / amps, at line 2040. Accordingly, the VA model appears better than the M model for faster triggering responding to slipping in ascending conditions, whereas the M model is better than the VA model for triggering responding to slipping in descending conditions.

[0175] While the principles of the invention have been described herein, the foregoing description is only an example and not a limitation on the scope of the invention. Other embodiments are contemplated within the scope of the present invention in addition to the exemplary embodiments shown and described herein. Modifications and substitutions by one of ordinary skill in the art are within the scope of the present invention. The invention is not limited to the particular embodiments described and depicted herein, rather only to the following claims.AB663WO 31 / 33

Claims

CLAIMSI CLAIM:

1. Method of stabilizing a mobility device comprising slewing a wheel command voltage until the wheel command voltage corresponds with a velocity command.

2. Method of claim 1 wherein said slewing has a rate that depends on a velocity of the mobility device.

3. Method of claim 1 wherein said slewing has a rate of less than 0.4 volts per 5 milliseconds.

4. Method of claim 1 wherein said slewing depends on detecting a slip condition.

5. Method of claim 4 wherein said detecting comprises analyzing: velocity, acceleration, momentum, and combinations thereof.

6. Method of claim 4 wherein when the mobility device is ascending, said detecting comprises analyzing velocity and / or acceleration, and / or when the mobility device is ascending, said detecting comprises analyzing momentum.

7. Mobility device comprising a processor configured to perform the method of claim 1.AB663WO 32 / 33

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