Patents Assigned to DEKA Products Limited Liability
  • Patent number: 7938207
    Abstract: A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel.
    Type: Grant
    Filed: February 18, 2010
    Date of Patent: May 10, 2011
    Assignee: DEKA Products Limited Liability
    Inventors: Dean Kamen, Robert R. Ambrogi, Catharine N. Flynn, John M. Kerwin