Abstract: A system for assisting a person of limited mobility in moving from room to room within a home and performing essential daily activities includes a personal mobility device which includes transfer drivers which engage a transfer system to transition from a first elevation to a second elevation.

Abstract: Wheeled riding vehicles, including tricycles, with extremely thin stowed profiles are provided, which in one embodiment, include movable, collapsible tires/wheel axle assemblies, as well as folding frame parts and a unique handle that is removable and stowable within the vehicle frame when not used. The riding vehicle hangs totally flat on the wall, or fits in car trunks easily. One version is pedal powered, and a second embodiment provides for an integrated propulsion linkage providing for battery or motor power to the rear most wheels when they are moved into their operative position. The rear tire wheel assemblies also may be stowed and folded compactly inside a rear storage compartment with a lid.

Abstract: An automotive device for the inspection of internal spaces having ferromagnetic surfaces includes at least two magnetic wheels (3) or caterpillars, or at least two magnetic legs for the advancement of the device along the surfaces to be inspected. According to the invention, the device includes actively powered rotating arms (1) attached to a wheel (3), caterpillar, or leg of the device. Each rotating arm (1) has a length longer than the shortest distance between the point of attachment of the rotating arm to the device and the surface. When the device is in a position, where there is magnetic contact to the surface in two or more points and the device is no longer able to advance due to the strength of the magnetic forces, the rotating arms are brought into non-magnetic contact with the surface in order to create an air gap between the surface and the magnetic wheel and thus reduce the magnetic forces. The device is thereby enabled to overcome the magnetic forces and advance the device along the surface.

Abstract: A motorized vehicle, such as a trike motorcycle, includes a frame having a front end connected to at least one front wheel and having a rear end, first and second spaced swing arm assemblies mounted at the rear end, first and second rear wheel assemblies supported by the first and second swing arm assemblies and defining a space therebetween, and at least one support extending from the frame into the space. The arrangement allows a modular structure such as a wheelchair to be connected to the at least one support.

Abstract: A motorized balance board includes a gyrosensor. An arithmetic operation unit calculates a tilt angle change value based on a signal output from the gyrosensor. When the control mode is a standby mode, a control mode switch element switches the control mode to a riding mode when the absolute value of the tilt angle change value exceeds a riding angular velocity threshold. When the control mode is the riding mode, the control mode switch element switches the control mode to the standby mode when the absolute value of the tilt angle change value exceeds a descending angular velocity threshold.

Abstract: An engine includes a crankshaft for transmitting rotational drive power to a drive wheel, a clutch mechanism for connecting or disconnecting the transmission of rotational drive power of the crankshaft, and clutch actuators. The crankshaft, clutch mechanism, and clutch actuators are accommodated in an engine case. The clutch actuators control the clutch mechanism and are positioned outside the clutch mechanism, viewed from the crankshaft direction.

Abstract: A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. This embodiment has a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered.

Abstract: In accordance with the present invention a mono-wheel vehicle is provided. The vehicle includes a housing with an inner circumference. A wheel is connected to the housing such that the wheel is able to rotate independently of the housing. The wheel has an outside portion that makes contact with a surface. A motor mechanism is provided for rotation of the wheel. Gyroscopic forces acting on the rotating wheel maintain the vehicle in a substantially upright position such that the vehicle is able to travel along the surface in a first direction. A platform connected to the inner circumference of the housing is pivotable in relation to the housing to causes a change in a center of gravity. The change in center of gravity causes the gyroscopic forces acting on the vehicle to turn the vehicle towards the changing center of gravity in order to maintain the vehicle in a more upright position.

Abstract: A two-wheel battery-powered vehicle has a platform and two wheels connected to the platform, wherein a battery-powered wheel drive drives the wheels. An attachment is connected to the platform and a sensor device is arranged in the platform. A person standing on the platform and engaging the attachment moves the platform into an angle position corresponding to a body position of the person. Based on the angle position of the platform, the sensor device controls the wheel drive such that, by acceleration or deceleration, the vehicle and the person standing on it are kept in a balanced position. A right/left control controls turning of the vehicle in a traveling direction by driving the wheels at different speed. The attachment has a leg support device for at least one leg of the person standing on the platform for keeping the platform at a desired angle position.

Abstract: A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Abstract: A wheel suspension for vehicles. The invention relates to both double axle vehicles and single axle vehicles. Feasible areas of use are: prams, carts (pulled manually or by a vehicle), walkers, wheel chairs, skateboards, luggage carts and motor vehicles. It is significant for the wheel suspension that the centre axles (15a, 15b) of wheels (11a, 11b) of a set of wheels are connected to elements (14a, 14b) that extend in the travelling direction of the vehicle, that these elements (14a, 14b) are hingedly/pivotally connected to a frame (1?) of the vehicle, that the centre axles (15a, 15b) for adjacent wheels (11a, 11b) are located at a certain distance from each other in the longitudinal direction/travelling direction (2) of the vehicle.

Abstract: The recreational electric vehicle (hereinafter REV) is a convenient indoor or outdoor vehicle for one or two people with a space for personal goods. REV is most suited for adaptations for recreational use. It uses electric power for zero pollutant emissions, quiet operation, and a very low running cost. REV is driven using a joystick and is able to turn on the spot.

Abstract: A wheel arrangement for a four-wheeled vehicle is comprised of a front wheel, two side wheels and a rear wheel, whereas the rear wheel is connected to the frame of the vehicle by a supporting base enabling the same to be steered freely while having a ground-touching point of the same to be biased from the axis of the supporting base by a distance, and the front wheel can be specified as a driving wheel, a free-rolling steering wheel or just a steering wheel with respect to actual requirement, and the two side wheels can be specified as a driving wheels or free-rolling wheels while enabling the axis of the two side wheels to be aligned to a straight line without sharing a same shaft.

Abstract: A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

Abstract: A personal cart comprises a mounting structure secured onto two parallel and aligned suspension members near their respective proximal longitudinal ends so as to rest thereon, and extending both upwardly and longitudinally so as to generally define an angle with said suspension members, two driving wheels, each mounted to a respective suspension member near its proximal end, two driven wheels, each rotatably mounted to a respective suspension member near its distal end, and actuating means coupled to both driving wheels for selectively causing rotation of at least one of said two driving wheels. The actuating may includes a controller and a rechargeable battery or be in the form of a hand actuating device including two endless belts mounted along angled portions of the mounting structure. The personal cart comprises few components and is relatively compact which provides a long autonomy in the case of an electrically actuated embodiment, and less effort to actuate in the case of the hand actuating embodiment.

Abstract: A conversion apparatus for attachment to a vehicle is provided. The conversion apparatus may include a frame having a mounting assembly adapted to releasably couple the conversion apparatus to the vehicle, and a first extension and a second extension, where each extension laterally extends from the mounting assembly on opposing sides of the vehicle. The frame further includes a first support member extending from the first extension to form a first pocket between the vehicle and the first support member, and a second support member extending from the second extension to form a second pocket between the vehicle and the second support member.

Abstract: A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Abstract: A motroized vehicle has a circular platform. A hemispherical frame is coupled to the platform. A front axle and wheel assembly is rotatably coupled to a front section of the hemispherical frame. A rear axle and wheel assembly is rotatably coupled to a rear section of the hemispherical frame. A motor is coupled to the rear axle and wheel assembly for powering the vehicle. Control devices are coupled to the motor and the front and rear axle and wheel assembly for controlling operation of the vehicle.

Abstract: A pool or tank cleaner that is propelled by means of one or more water jets is directed in one or more predetermined systematic scanning patterns of either straight, curvilinear, or combinations of both, by an apparatus and method that controls and varies the directional discharge of one or more water jets that propel the cleaner in its translational movement. The direction of the discharge of the propelling water jet is changed by mechanical sensors, electrical sensors, or by interrupting the water pump. Further variations in the direction of translational movement of the cleaner are effected by activating at least one retractable depending member to periodically contact the pool surface below the moving cleaner, thereby causing the cleaner to pivot or otherwise change direction.

Abstract: A vehicle includes a chassis supporting two front axle assemblies and two rear axle assemblies. Each of the front and rear axle assemblies includes an extendible and retractable axle supporting an independently steerable wheel and a steering mechanism. The axles of the respective front and rear axle assemblies are offset from each other. By providing independently steerable wheels, the vehicle is operable in a plurality of steering modes including two-wheel steer, crab steer and coordinated steer. A steering angle for each steering wheel is determined according to a steering angle of an inside front wheel on a turn-by-turn basis.

Abstract: A robotic pool or tank cleaner is supported by wheels that are mounted on fixed or movable axles that form an acute angle with the longitudinal axis of the pool cleaner's body when the cleaner moves in either or both of two opposing directions to thereby provide a variable path as the device moves back and forth across the bottom surface of the pool or tank that is being cleaned.

Abstract: A four-wheeled vehicle includes a steering mechanism having a bar handle, right and left front wheels, and right and left rear wheels. The vehicle includes a front cover and a windshield disposed in front of the bar handle. The vehicle includes a driver's seat, and a rear passenger seat disposed behind the driver's seat and between the rear wheels. The rear passenger seat is directed forwardly. The vehicle includes a power unit part disposed below the rear passenger seat, and a body cover disposed rearwardly of the driver's seat.

Abstract: A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.

Abstract: A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. This embodiment has a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered.

Abstract: A method for stabilizing a balancing transporter under riderless conditions. The balancing transporter is characterized by a center of mass, and has two laterally disposed wheels and a region of contact with an underlying surface. In accordance with the method, the absence of a user aboard the transporter is first detected. Then a desired transporter pitch is determined such as to establish a condition of stasis wherein the center of mass is disposed directly above the region of contact between the balancing transporter and the underlying surface. Finally, a torque is applied to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch. The torque may include coadded terms where the terms are, respectively, proportional to a pitch error, a pitch rate, a wheel rate, and an integral representing the wheel rotation that was required to bring the transporter to the condition of stasis.

Abstract: A fork lift with a laterally travelling system, wherein when a running mode is switched from a normal running in which right and left front wheels and rear wheels face in a longitudinal direction to a lateral running, rotating means is operated to rotate a turning member about a vertical axis in order to change the direction of the front wheels relative to that of a vehicle body, a change in running direction can be performed smoothly because the front wheels are formed integrally with a running drive device, and the front wheels are driven in forward and reverse directions by the running drive device after the front wheels are turned to face sideways so that a fork lift can run laterally and the rear wheels can be changed in direction in a follow-up manner by a turning caster system or can be changed in direction forcibly in the same manner as the front wheels, whereby the wheels of a drive system, though the fork lift is of a type capable of performing a normal forking operation, can be steered to face side

Abstract: A utility vehicle is provided with a bogey beam on which are mounted the steering axle at the forward end of the bogey beam and the middle axle on the rearward end of the bogey beam. A rear drive axle is supported by the frame of the utility vehicle. The bogey beam is connected to the frame by a pivot assembly defining a transverse pivot axis about which the bogey beam can oscillate. The weight transferred to the bogey beam is proportionately distributed between the front steering axle and middle axle. As a result, the steering characteristics of the steering axle are not impaired by the imposition of a load in the load bed of the utility vehicle, as the middle axle cannot be loaded sufficiently to overpower the front steering axle. The middle axle is rotatably driven by the rear drive axle.

Abstract: An apparatus and method for attaching a wheel to an axle. The apparatus comprises a wheel with a hub for insertion into an indentation in the end of the axle and a non-cylindrically-symmetrical stud attached to the axle that is concentric with the axis of rotation of the wheel and axle, attaching the wheel to the axle.

Abstract: 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.

Abstract: A balancing vehicle that supports a rider on a support such as a seat in a such a manner as to allow the position of the center of gravity of the vehicle to be varied by motion of the support. Motion of the support additionally provides for control of a drive that propels the vehicle in a manner responsive to the position of the center of gravity. The vehicle is thus capable of control by leaning of a seated rider.

Abstract: A collapsible security vehicle having a pair of security vehicle bodies is provided. The security vehicle preferably includes a pair security vehicle bodies collapsibly connected by a pair of security vehicle connectors so that the security vehicle can be positioned between an extended position and a collapsed position. Each of the pair of security vehicle bodies preferably includes a pair of security vehicle connector extensions and a pair of security vehicle connector receivers rotatably connected to the security vehicle connector extensions and positioned to receive each of the pair of security vehicle connectors. The security vehicle preferably includes a plurality of omni-directional wheels connected to each of the pair of security vehicle bodies so that the security vehicle can be readily positioned in a forward, rearward, lateral, and transverse direction.

Abstract: An end-weighted vehicle comprising a framework having opposing ends and a wheel mounted to one of the ends for rotation and defining a footprint, and a weight supported by the framework proximate the wheel so as not to interfere with the rotation of the wheel, wherein a)the weight is sufficiently heavy and sufficiently distributed proximate the wheel so that the framework is forced to reside in an inclined position with the other of the ends positioned above a supporting surface when the wheel is positioned against the supporting surface, and b)the footprint is of a size sufficient to support and maintain the framework in the inclined condition.

Abstract: A drive system base or platform, such as for a mobile robot, is disclosed having multiple caster wheels, each wheel having its own first motor for independent driving and its own second motor for independent steering. Each wheel is rotably and pivotably mounted in a separate wheel module, which includes both the driving and steering motors associated with the wheel. All of the wheel modules on the base are identical and interchangeable. The two motors of each module are mounted side by side in a vertical arrangement for compactness. Each wheel module includes a suspension for allowing each wheel to move vertically and independently relative to the base. The hub and tread of each wheel are each cast concentrically around a bevel drive gear in an offset manner to provide a wheel and bevel gear that turn more smoothly and precisely.

Abstract: A wheeled chassis having separately and independently pivotable drivewheels attached to a generally rectangular frame. The axis of reorienting rotation of one of the drivewheels is offset relative to the reorienting axis of the other drivewheel to produce stable, controlled, and efficient multidirectional motion.

Abstract: A drive wheel 10 is shown to include a support member 12 and, a wheel member 11 having a surface contacting portion 18 extending about a periphery of the wheel member 11. A drive shaft 24 includes a drive device 25 arranged to engage a drive surface 26 on the wheel member 11 such that the wheel member 11 can be rotatably driven relative to the support member 12. When the drive device 25 is engaged with the drive surface 26, a line of engagement 27 is defined along portions of the drive device 25 and the drive surface 26 that engage with one another.

Abstract: A combination of a skid steering type vehicle and a bypass device is disclosed. An operator can selectively raise one end of the skid steering type vehicle, slightly above the terrain and can functionally disengage one or two wheels of the skid steering type vehicle which are not capable of swiveling and engage one or more wheels of a bypass device which are capable of swiveling. In this manner a skid steering type vehicle in combination with the bypass device, can be turned in the manner of a typical passenger automobile, i.e. without dragging wheels along the ground surface.

Abstract: A wheel suspension system for a vehicle such as a truck trailer. Wheels of the suspension system are attached to stub axles supported by pivoting trailing arm wheel supports. The wheel supports are arranged on a sub-frame which can be slidingly coupled to the underneath of the trailer. Each wheel support is urged apart from the sub-frame by a spring such as an air spring. In one embodiment the air springs are pressurized under the control of an electronic controller. The rotational axes of the wheels are staggered or spaced apart, such that the rotational axes of the wheels on one side of the sub-frame are not coincident with the rotational axes of the wheels on the other side of the sub-frame.

Abstract: An autonomous rolling robot is in the form of a hollow sphere containing at least two sets of rotors. Each set of rotors includes a rotor mounted on a shaft which is driven by a motor. All of the shafts are radially mounted within the hollow sphere so that an extension of the shafts would intersect at the geometric center of the sphere. The center of mass of the robot is also located at the geometric center of the sphere.

Abstract: Improvements to personal vehicles including self-propelled and balancing personal vehicles. Ready detachability of a seat, footrest, seat back, control unit, wheels and caster assembly is provided using quick disconnect mechanisms.

Abstract: An omni-directional wheel for an omni-directional vehicle that exhibits constant ride height, low vibration, and reduced maximum ground contact pressure is disclosed. The invention consists of a wheel assembly rotatably connected to the omni-directional vehicle chassis. The wheel assembly comprises a hub on which free spinning rollers are rotatably mounted at an angle to the wheel axis. Constant ride height and low vibration operation are accomplished by configuring the rollers with an exterior profile, thickness, material properties and surface grooving to achieve constant deflection of the roller contact surface at all wheel rotation angles.

Abstract: A power drive unit (1) for attachment to a golf trolley comprises a drum (2) rotatable about a generally horizontal axis (3) with the external periphery (4) of the drum (2) adapted to seat on the ground and to make frictional contact with the ground for drive purposes, a battery (16) within the drum (2), an electric motor (19) powerable from the battery (16), a transmission from the drive motor (19) to the drum (2), manually operable control means for controlling forward rotation of the drum (2), an end cap (5) at each end of the drum (2), and a final output gear (25) mechanically connected to one end cap (5) via a vibration isolating connection (26, 28, 29).

Abstract: A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided.

Abstract: A joint case includes a flange, a joint shaft extending from the flange, and a case main body fitted to the joint shaft. The flange is fitted to a rear portion of a front vehicle body, whereas the side of the case main body of the joint case is fitted to a rear vehicle body. With the above construction of the joint case, the distance between the front vehicle body and the rear vehicle body can be reduced, and a reduction in the overall length of the tricycle can be obtained.

Abstract: Described is a mobile apparatus (10) having at least one wheel (14) which is rotatable about a wheel axle (12). A main body (16) of the apparatus is mounted swingingly on the wheel axle (12). Oscillating movements of the main body (16) about the wheel axle (12) are compensated by means of a compensating weight (68) which is definedly movable out of the normal rest position by means of a regulator (56). A drive device (18) is provided on the main body (16) for driving the at least one wheel (14) of the mobile apparatus (10). The wheel axle (12) has at least one differential (20) which is operatively connected to the drive device (18) and which is arranged between the at least one wheel (14) and an associated pinion (36) which is operatively connected to the associated regulator (56) and to the corresponding compensating weight (68) or to the compensating weight (68) formed by the respective regulator (56).

Abstract: An ATV (10), all terrain vehicle, having staddle seating (12) and at least four oversized balloon tires (14, 16, 18, 20), and a frame (22) having front and rear suspensions (28, 30) respectively mounting the tires, has an engine (32) mounted on the frame (22) between left and right frame rails (24, 26), and having a vertical crankshaft (34).

Abstract: For a wheel suspension for vehicles, in particular commercial vehicles with a wheel unit that can be rotated about an upright axis of rotation, the proposal is to design the wheel unit with its actuating and drive structure as an assembly that is situated outside the vehicle body and can be removed to the outside.

Abstract: An automatically balancing vehicle having a headroom monitor. The headroom monitor determines the difference between the maximum velocity of the vehicle and the present velocity of the vehicle. An alarm receives a signal from the headroom monitor and produces a warning when the headroom falls below a specified limit.

Abstract: An all terrain vehicle with a foot-shifted manual transmission and a full platform-style footrest. The all terrain vehicle has a chassis carrying a straddle-type seat which is sufficiently narrow to be straddled by a rider. A laterally extending footrest is provided on each side of the chassis. The manual transmission includes a foot-operable shift lever located on one side of the chassis adjacent the footrest for shifting the transmission among a plurality of forward gears. The footrest is generally rectangular, having generally horizontal heel and toe portions, and the shift lever is positioned at approximately the same height as the heel portion. The toe portion is positioned lower than the heel portion, permitting a rider to depress the shift lever to a position lower than the heel portion of the footrest to downshift the transmission, and permitting the rider to insert his toe in between the toe portion of the footrest and the shifting lever to move the lever upwards to upshift the transmission.

Abstract: An ATV (10), all terrain vehicle, having staddle seating (12) and at least four oversized balloon tires (14, 16, 18, 20), and a frame (22) having front and rear suspensions (28, 30) respectively mounting the tires, has an engine (32) mounted on the frame (22) between left and right frame rails (24, 26), and having a vertical crankshaft (34).

Abstract: Lockup hydraulic valve system for controlling side swing arm supported wheels on a motorcycle when the wheels are in a downward ground engaging position. The valve system has an open-unlocked and closed-locked position. In the unlocked position, a driver riding the motorcycle about turns where the bike tilts either to the right or to the left allows the corresponding side wheel to move upward. Also in the unlocked position, the side wheels will raise when the motorcycle is running over uneven road surfaces. In the locked position, the side wheels stay in a rigid/fixed downward position while the motorcycle is standing still up to speeds of approximately 15 mph. Magnets attached to the front wheel along with a pickup sensor determine the speed of the motorcycle. Above, 15 mph, a relay activated safety switch overides the locked position putting the valve controls into the unlocked position.