Abstract: A main body frame 40 of a walking assist device 1, which is to be fixed to the waist of a user, has first frames 41 to be fixed to the waist of the user, second frames 42, and connection mechanisms 43, which connect the first frames 41 and the second frames 42 such that the relative positions of the second frames 42 with respect to the first frames 41 change according to the motions of the legs of the user.

Abstract: A main body frame 40 of a walking assist device 1, which is to be fixed to the waist of a user, has first frames 41 to be fixed to the waist of the user, second frames 42, and connection mechanisms 43, which connect the first frames 41 and the second frames 42 such that the relative positions of the second frames 42 with respect to the first frames 41 change according to the motions of the legs of the user.

Abstract: A connector provided in a lower middle part of a battery pack, is protected from moisture in a reliable manner while simplifying the installing and removing of the battery pack. A vertical wall of the battery pack is formed with an arch-shaped ridge having a higher middle part and a pair of lower lateral end parts. A battery pack receiving recess is provided with a vertical wall opposing the vertical wall of the battery pack, and a pair of through holes on either lower end thereof. The vertical wall of the battery pack receiving recess is formed with an arch-shaped groove configured to receive the arch-shaped ridge of the battery pack. Moisture that may be deposited on the vertical wall surfaces is trapped by a water channel defined by the groove and the ridge, and drained from the battery pack receiving recess via the through holes.

Abstract: In an inverted pendulum type vehicle including a frame (2) incorporated with a propulsion unit (3) and a seat unit (4) provided on the frame, the seat unit (4) is moveable between a deployed position for supporting a rider and a retracted position different from the deployed position. Thereby, an object support unit for supporting an object such as a rider and a cargo can be positioned differently depending on the need so that the convenience and freedom in the use of the vehicle can be enhanced by preventing the object support unit from encumbering the user when not in use.

Abstract: The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.

Abstract: In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.

Abstract: A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.

Abstract: Heat generated by a drive source of a friction drive device such as an electric motor is allowed to efficiently dissipate to the atmosphere, and the friction drive device and an omni-directional vehicle using the same is designed in a highly compact manner. Left and right electric drive devices are placed on a central axial line of left and right rotatable drive members, and external teeth members serving as output members of the electric drive devices are directly connected to the respective rotatable drive members in a torque transmitting and heat transmitting relationship.

Abstract: In a vehicle (1) including a frame (2) incorporated with a drive unit (3) for enabling the frame to travel in a prescribed direction and a seat assembly (4) supported by the frame and including a pair of saddle members (63) defining a pair of seat surfaces (70A), respectively, configured to jointly support buttocks of a vehicle occupant, the saddle members are resiliently supported by the frame in such a manner that the seat surface of each saddle member is in an approximately horizontal orientation but is progressively tilted inward with a downward movement of the saddle member under a load of a vehicle occupant.

Abstract: The frictional relationship between the drive rollers of a pair of drive disks and the driven rollers of a main wheel is prevented from changing. A connecting mechanism (cross roller bearing) connects the two drive disks to each other so as to be rotatable to each other while restricting at least one of a radial displacement and an axial displacement between the two drive disks.

Abstract: An inverted pendulum type vehicle (1) includes a lower frame incorporated with load sensor having an input portion 60 for receiving an external force and an upper frame (3) provided with a saddle 11 for supporting a load of a rider or a cargo and a grip handle (31) for enabling a user not riding the vehicle to support the vehicle (1), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.

Abstract: A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member.

Abstract: A connector provided in a lower middle part of a battery pack, is protected from moisture in a reliable manner while simplifying the installing and removing of the battery pack. A vertical wall of the battery pack is formed with an arch-shaped ridge having a higher middle part and a pair of lower lateral end parts. A battery pack receiving recess is provided with a vertical wall opposing the vertical wall of the battery pack, and a pair of through holes on either lower end thereof. The vertical wall of the battery pack receiving recess is formed with an arch-shaped groove configured to receive the arch-shaped ridge of the battery pack. Moisture that may be deposited on the vertical wall surfaces is trapped by a water channel defined by the groove and the ridge, and drained from the battery pack receiving recess via the through holes.

Abstract: An inverted pendulum type vehicle (1) includes a lower frame incorporated with load sensor having an input portion 60 for receiving an external force and an upper frame (3) provided with a saddle 11 for supporting a load of a rider or a cargo and a grip handle (31) for enabling a user not riding the vehicle to support the vehicle (1), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.

Abstract: In an inverted pendulum type vehicle including a frame (2) incorporated with a propulsion unit (3) and a seat unit (4) provided on the frame, the seat unit (4) is moveable between a deployed position for supporting a rider and a retracted position different from the deployed position. Thereby, an object support unit for supporting an object such as a rider and a cargo can be positioned differently depending on the need so that the convenience and freedom in the use of the vehicle can be enhanced by preventing the object support unit from encumbering the user when not in use.

Abstract: The frictional relationship between the drive rollers of a pair of drive disks and the driven rollers of a main wheel is prevented from changing. A connecting mechanism (cross roller bearing) connects the two drive disks to each other so as to be rotatable to each other while restricting at least one of a radial displacement and an axial displacement between the two drive disks.

Abstract: Heat generated by a drive source of a friction drive device such as an electric motor is allowed to efficiently dissipate to the atmosphere, and the friction drive device and an omni-directional vehicle using the same is designed in a highly compact manner. Left and right electric drive devices are placed on a central axial line of left and right rotatable drive members, and external teeth members serving as output members of the electric drive devices are directly connected to the respective rotatable drive members in a torque transmitting and heat transmitting relationship.

Abstract: A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member.

Abstract: In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.

Abstract: In a vehicle (1) including a frame (2) incorporated with a drive unit (3) for enabling the frame to travel in a prescribed direction and a seat assembly (4) supported by the frame and including a pair of saddle members (63) defining a pair of seat surfaces (70A), respectively, configured to jointly support buttocks of a vehicle occupant, the saddle members are resiliently supported by the frame in such a manner that the seat surface of each saddle member is in an approximately horizontal orientation but is progressively tilted inward with a downward movement of the saddle member under a load of a vehicle occupant.