Abstract: A wheelchair having two drive wheels, each provided with a rotary drive motor wherein the value of the drive torque applied by each motor is controlled such as to stabilize the wheelchair, while in motion on the two drive wheels and occupied by a user, in an inclined balance position.

Abstract: A method for electrically assisting with the propulsion of a rolling system comprising a driving wheel driven by an electric motor, the torque applied by the motor being a function of a propulsion torque transmitted by a user to the driving wheel, wherein the method comprises: a preliminary step of storing in memory an unknown input model representing the weighted system, which is a function of the geometry and of the mass of the weighted system, and having as output data the rotational speed of the driving wheel; a step of estimating unknown input being the total torque applied to the wheel, influencing the rotational speed, the total torque being estimated from the rotational speed by calculating the inverse model; the propulsion torque transmitted by the user being deduced from the total torque estimated on the basis of the other known torques that make up the total torque.

Abstract: A method for electrically assisting with the propulsion of a rolling system comprising a driving wheel driven by an electric motor, the torque applied by the motor being a function of a propulsion torque transmitted by a user to the driving wheel, wherein the method comprises: a preliminary step of storing in memory an unknown input model representing the weighted system, which is a function of the geometry and of the mass of the weighted system, and having as output data the rotational speed of the driving wheel; a step of estimating unknown input being the total torque applied to the wheel, influencing the rotational speed, the total torque being estimated from the rotational speed by calculating the inverse model; the propulsion torque transmitted by the user being deduced from the total torque estimated on the basis of the other known torques that make up the total torque.

Abstract: A device includes a substrate 5, an emission source 1 emitting an acoustic beam from the first surface 7 of the substrate 5 towards the second surface 6 of the substrate 5, first reflection element 11 arranged so that, after reflection, the beam has a propagation direction substantially parallel to the second surface 6 and through a study area 3, and second reflection element 12 for reflecting the beam after crossing the study area 3 in the direction of the first surface, towards a receiver 10. The device is useful in the field of bioMEMS and labs-on-a-chip, and in particular makes it possible to leave one of the surfaces of the substrate free, for example for observation of the study area in parallel by element of an optical microscope. Moreover, the device facilitates the production of elements for the focussing or divergence (lenses) or reflection (mirror) of the acoustic beam.