Dynamically stable transporter controlled by lean
View Patent ↗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.
1. A transporter comprising:
a support platform for supporting a load, the support platform defining a fore-aft plane and a lateral plane;
a plurality of ground contacting elements coupled to the support platform such that the support platform is statically stable with respect to tipping in the fore-aft and the lateral plane;
a pivot element pivotally coupled about a rotation axis of at least one of the ground contacting elements such that the pivot element is capable of tilting;
a user interface for causing a tilt of the pivot element while the support platform remains statically stable with respect to tipping in fore-aft and the lateral plane;
a sensor module for generating a signal indicative of the tilt of the pivot element;
a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;
and a controller for commanding the motorized drive arrangement based on the tilt of the pivot element.
2. The transporter according to claim 1 , wherein the pivot element is capable of tilting in at least the fore-aft plane.
3. The transporter according to claim 1 , wherein the plurality of ground contacting elements include two laterally disposed wheels rotatable around an axis, the pivot element pivotally coupled to the axis.
4. The transporter according to claim 1 , wherein the pivot element is flexibly coupled to the support platform.
5. The transporter according to claim 4 , wherein the pivot element is flexibly coupled to the support platform via at least one spring.
6. The transporter according to claim 1 , wherein the user interface is a handlebar coupled to the pivot element.