公开(公告)号：US06571892B2

公开(公告)日：2003-06-03

申请号：US09930127

申请日：2001-08-15

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  Burl Amsbury ,  Susan D. Dastous ,  Robert J. Duggan ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David W. Herr ,  John M. Kerwin ,  John B. Morrell ,  James Henry Steenson, Jr.

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  Burl Amsbury ,  Susan D. Dastous ,  Robert J. Duggan ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David W. Herr ,  John M. Kerwin ,  John B. Morrell ,  James Henry Steenson, Jr.

IPC分类号： B62D6112

CPC分类号： A61G5/061 ,  A61G5/045 ,  A61G5/046 ,  A61G2203/14 ,  G05B13/042 ,  Y10S180/907

摘要： Systems and methods for controlling a device are disclosed. In one embodiment, the systems and methods allow for the control of a human transport device such that the human transport device remains in an upright position regardless of the surface being traversed. The systems and methods may include a plurality of operational modes where each mode has different characteristics. Additionally, systems and method for locating a center of gravity of a device are disclosed.

公开(公告)号：US07357202B2

公开(公告)日：2008-04-15

申请号：US10947122

申请日：2004-09-22

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

IPC分类号： B62D61/12

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  Y10T74/20396

摘要： A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.

摘要翻译： 用于控制车辆加速度的用户输入。 用户输入具有能够由用户偏转的可移动部件，使得偏转度对应于用户指定的指定速度。 偏转度与指定速度之间的对应关系可以包括多个区域，每个区域的特征在于可以为特定用户定制的不同的灵敏度。 用户输入还可以包括可动构件的中立位置，其中可动构件到中立位置的基本上突然的运动导致车辆的旋转减速。

公开(公告)号：US06415879B2

公开(公告)日：2002-07-09

申请号：US09813713

申请日：2001-03-21

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

IPC分类号： B62D6112

CPC分类号： A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

摘要： A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.

摘要翻译： 用于在有可能不规则的表面上运送有效载荷并可能包括楼梯的车辆。 车辆具有用于支撑有效载荷的支撑件和可相对于局部轴线移动的地面接触元件，其中局部轴线可以相对于与支撑件具有限定关系的一些第二轴线移动。 车辆还具有电动驱动装置，用于允许地面接触元件的可控制运动，以便在电动驱动装置未通电时相对于至少前后平面倾斜不稳定的运行状态运行。 该车辆还具有一个输入装置，用于从未被布置在车辆上的车辆的期望运动方向的助理接收指示。

公开(公告)号：US06443250B1

公开(公告)日：2002-09-03

申请号：US09524931

申请日：2000-03-14

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John David Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

IPC分类号： B62B906

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G5/107 ,  A61G5/125 ,  A61G5/128 ,  A61G5/14 ,  A61G2203/14 ,  B60K7/00 ,  B62D57/00 ,  B62K11/007 ,  G05B13/042

摘要： A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.

摘要翻译： 用于在有可能不规则的表面上运送有效载荷并可能包括楼梯的车辆。 车辆具有用于支撑有效载荷的支撑件和可相对于局部轴线移动的地面接触元件，其中局部轴线可以相对于与支撑件具有限定关系的一些第二轴线移动。 车辆还具有电动驱动装置，用于允许地面接触元件的可控制运动，以便在电动驱动装置未通电时相对于至少前后平面倾斜不稳定的运行状态运行。 该车辆还具有一个输入装置，用于从未被布置在车辆上的车辆的期望运动方向的助理接收指示。

公开(公告)号：US06311794B1

公开(公告)日：2001-11-06

申请号：US09428007

申请日：1999-10-27

申请人： John B. Morrell ,  John M. Kerwin ,  Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard K. Heinzmann ,  Brian R. Key

发明人： John B. Morrell ,  John M. Kerwin ,  Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard K. Heinzmann ,  Brian R. Key

IPC分类号： B62D57028

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  A61G2203/46 ,  B60K7/00 ,  B62D57/00 ,  G05B13/042

摘要： A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.

摘要翻译： 一种用于在上升或下降楼梯中操作设备的系统和方法。 该装置具有可围绕相对于群集臂固定的轴线的多个车轮，其中集束臂本身围绕轴线旋转，使得车轮搁置在连续楼梯上。 车轮和集束臂由控制器根据单独的控制规律进行控制。 装置上升还是下降是由设备相对于指定的前后角度的间距来控制的。 移动设备和负载组合的重心来控制设备的运动方向。

公开(公告)号：US20100217497A1

公开(公告)日：2010-08-26

申请号：US12772791

申请日：2010-05-03

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

IPC分类号： G06F7/00

CPC分类号： A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

摘要： A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.

摘要翻译： 用于控制车辆加速度的用户输入。 用户输入具有能够由用户偏转的可移动部件，使得偏转度对应于用户指定的指定速度。 偏转度与指定速度之间的对应关系可以包括多个区域，每个区域的特征在于可以为特定用户定制的不同的灵敏度。 用户输入还可以包括可动构件的中立位置，其中可动构件到中立位置的基本上突然的运动导致车辆的旋转减速。

公开(公告)号：US07708094B2

公开(公告)日：2010-05-04

申请号：US12102104

申请日：2008-04-14

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

IPC分类号： B62D61/12

CPC分类号： A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

摘要： A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.

摘要翻译： 用于控制车辆加速度的用户输入。 用户输入具有能够由用户偏转的可移动部件，使得偏转度对应于用户指定的指定速度。 偏转度与指定速度之间的对应关系可以包括多个区域，每个区域的特征在于可以为特定用户定制的不同的灵敏度。 用户输入还可以包括可动构件的中立位置，其中可动构件到中立位置的基本上突然的运动导致车辆的旋转减速。

公开(公告)号：US06799649B2

公开(公告)日：2004-10-05

申请号：US10166553

申请日：2002-06-10

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

IPC分类号： B62D5106

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  Y10T74/20396

摘要： A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.

摘要翻译： 用于在有可能不规则的表面上运送有效载荷并可能包括楼梯的车辆。 车辆具有用于支撑有效载荷的支撑件和可相对于局部轴线移动的地面接触元件，其中局部轴线可以相对于与支撑件具有限定关系的一些第二轴线移动。 车辆还具有电动驱动装置，用于允许地面接触元件的可控制运动，以便在电动驱动装置未通电时相对于至少前后平面倾斜不稳定的运行状态运行。 该车辆还具有一个输入装置，用于从未被布置在车辆上的车辆的期望运动方向的助理接收指示。

公开(公告)号：US20080319627A1

公开(公告)日：2008-12-25

申请号：US12102104

申请日：2008-04-14

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

IPC分类号： G06F17/00

CPC分类号： A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

摘要： A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.

摘要翻译： 用于控制车辆加速度的用户输入。 用户输入具有能够由用户偏转的可移动部件，使得偏转度对应于用户指定的指定速度。 偏转度与指定速度之间的对应关系可以包括多个区域，每个区域的特征在于可以为特定用户定制的不同的灵敏度。 用户输入还可以包括可动构件的中立位置，其中可动构件到中立位置的基本上突然的运动导致车辆的旋转减速。

公开(公告)号：US20110012721A1

公开(公告)日：2011-01-20

申请号：US12879650

申请日：2010-09-10

申请人： Dean Kamen ,  Robert R. Ambrogi ,  James J. Dattolo ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  Matthew M. McCambridge ,  John B. Morrell ,  Michael D. Piedmonte ,  Richard J. Rosasco

发明人： Dean Kamen ,  Robert R. Ambrogi ,  James J. Dattolo ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  Matthew M. McCambridge ,  John B. Morrell ,  Michael D. Piedmonte ,  Richard J. Rosasco

IPC分类号： B60Q1/00

CPC分类号： G05D1/0212 ,  A63C17/01 ,  A63C17/08 ,  A63C17/12 ,  B60L15/20 ,  B60L15/2045 ,  B60L2200/16 ,  B60L2200/24 ,  B60L2220/46 ,  B60L2240/18 ,  B60L2240/22 ,  B60L2240/423 ,  B60L2250/22 ,  B60L2250/24 ,  B60L2260/34 ,  B62D37/00 ,  B62D51/002 ,  B62D51/02 ,  B62D61/00 ,  B62K1/00 ,  B62K3/002 ,  B62K11/007 ,  B62K2207/02 ,  B62K2207/04 ,  G05D1/0223 ,  G05D1/0891 ,  G08B6/00 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275

摘要： An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

摘要翻译： 一种装置控制器，用于以使车辆的横向加速度减小的侧向不稳定性的方式促使骑车者定位在车辆上。 该装置具有用于从骑车人接收到期望的行进方向的指定的输入，以及用于向驾驶员反映有利的瞬时身体取向以提高面向横向加速度的稳定性的指示装置。 指示可以包括可相对于车辆枢转并且响应于车辆转动而被驱动的把手。