05971091 is referenced by 170 patents and cites 63 patents.

There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subject. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the surface. Finally, the embodiment has a control loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module. The ground contacting module may be realized as a pair of ground-contacting members, laterally disposed with respect to one another. The ground-contacting members may be wheels. Alternatively, each ground-contacting member may include a duster of wheels. In another embodiment, each ground-contacting member includes a pair of axially adjacent and rotatably mounted arcuate element pairs. Related methods are also provided.

Title
Transportation vehicles and methods
Application Number
21789
Publication Number
5971091
Application Date
February 3, 1995
Publication Date
October 26, 1999
Inventor
Phyllis K Kristal
Sunapee
NH, US
Andrzej Skoskiewicz
Manchester
NH, US
Brian R Key
Pelham
NH, US
Richard Kurt Heinzmann
Francestown
NH, US
Robert J Duggan
Northwood
NH, US
Robert R Ambrogi
Manchester
NH, US
Dean L Kamen
Bedford
NH, US
Agent
Bromberg & Sunstein
Assignee
DEKA Products Partnership
NH, US
IPC
A61G 5/04
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