초록 ▼

Personal transport means for walking at faster speeds than normal walking, made up of a pair of wheeled shoes or wheeled undersoles (1-1) that can be adapted by quick attachment (1-2) to the soles of the normal shoes of a walker, laterally articulated (1-3) to follow the natural movements of the hee

Personal transport means for walking at faster speeds than normal walking, made up of a pair of wheeled shoes or wheeled undersoles (1-1) that can be adapted by quick attachment (1-2) to the soles of the normal shoes of a walker, laterally articulated (1-3) to follow the natural movements of the heels relative to the tips of the feet (1-10) during normal walking, and allowing walking at higher speeds, without any skating movements, without having to gain momentum, and without modifying the rhythm, amplitude or longitudinal stability of natural walking, by means of a servomotor (1-4) which allows the speed of the driving wheels to exceed the skidding force (1-5a, 1-5b) resulting from the force transmitted by the supporting leg (1-6), and comprising an accelerator (1-8) and a brake (1-9) controlled by the foot of the walker.

대표청구항 ▼

1. A personal transportation device for walking at faster speeds than normal walking, made up of a pair of wheeled shoes or wheeled undersoles comprising: quick attachment means adapted for attaching said wheeled shoes or wheeled undersoles to the soles of the normal shoes of a walker;driving suppor

1. A personal transportation device for walking at faster speeds than normal walking, made up of a pair of wheeled shoes or wheeled undersoles comprising: quick attachment means adapted for attaching said wheeled shoes or wheeled undersoles to the soles of the normal shoes of a walker;driving supporting means in contact with the ground;a back portion and a front portion for supporting the soles of the normal shoes of the walker, each of said back portion and said front portion being composed of a distinct upper plate mounted on a chassis resting on at least one set of said driving supporting means said back portion and front portion being laterally articulated together to follow, during normal walking of a supporting foot having a tip and a heel, the movement of the heel, being off the ground, respectively supported on the ground, with respect to the tip, being supported on the ground, respectively off the ground;a motor system coupled to the driving supporting means; anda control system adjusting at any time an engine torque, in one direction or the other, to a compensation value allowing the speed of the driving supporting means to free the effect of the skidding force constituted by the component parallel to the ground of the force applied to each wheeled shoe or undersole by the supporting leg, wherein said compensation value is based on: the value of the angle of the supporting leg perpendicular to the ground, andan initial speed with respect to the ground of the wheeled shoes or undersoles,wherein the wheeled shoes or undersoles are configured to enable walking at faster speeds, by the mere movements of normal walking, keeping the rhythm, amplitude, and longitudinal stability, without any skating movement. 2. The personal transportation device according to claim 1, wherein each of the two wheeled shoes or undersoles comprises a lateral articulation, around an axis or a hinge system which enables the back portion to swivel in a vertical plane with respect to the front portion, to follow a detachment and a lifting of the heel of the supporting foot with respect to the tip of the supporting foot, which occur naturally in the middle and at the end of a step during normal walking; each of these two portions being adapted to support alone the body weight while rolling on said driving supporting means. 3. The personal transportation device according to claim 1, wherein each wheeled shoe or undersole comprises accelerator means for creating an overcompensation in the forward direction to enable the gradual increase, in a few steps, of the walkers global speed, said accelerator means comprising: an acceleration drive system coupled to the driving supporting means;means for supplying the acceleration drive system with energy to provide an additional engine torque to the driving supporting means in the walking direction; anda foot tip control located at the front portion of the upper plate, which, when the back portion is raised with respect to this front portion, enables to increase this engine torque proportionally to the pressure that foot tip control is subjected to by the tip of the supporting foot. 4. The personal transportation device according to claim 1, wherein, for each of the two wheeled shoes or undersoles, said personal transportation device comprises: an elastic energy storage device;said motor system comprising at least a mechanical motor operating the energy of the elastic energy storage device, comprising at least a constant-force spring, whether it be linear or rotating, mechanical, pneumatic or hydropneumatic, the constant force being adjustable at the start by an initial pre-adjustment according to the weight of the walker; this spring being mechanically coupled to the driving wheels by racks, cables, chains, belts or gears, and via at least a rotating torque variator; the control of the speed of the driving wheels being achieved by the rotating torque variator, whereof the variation is controlled by the variable characteristic of the skidding force, namely the angle α, measured by means of a sensor specific to each of the heel and tip phases of the step. 5. The personal transportation device according to claim 4, wherein the constant-force spring may be obtained based on a classic linear spring of constant stiffness, by coupling to a traction cable winding around a cam whereof the angular variation of the radius is calculated in order to compensate, via the resulting torque, the variation of the force of the linear spring according to its elongation or its compression. 6. The personal transportation device according to any of claims 1, 2, or 3, wherein said driving supporting means comprising wheels and/or track in contact with the ground. 7. The personal transportation device according to claim 3, wherein said means for supplying the acceleration drive system are supplied with electric energy, or gravitational potential energy. 8. The personal transportation device according to claim 1; wherein the motor system comprises at least one of a kinetic motor, an electric motor, a motor supplied with gravitational potential energy, a motor supplied with elastic energy or even of several motors combining wholly or partially these types of energy. 9. The personal transportation device according to claim 5, wherein the linear spring is mechanical, pneumatic or hydropneumatic. 10. The personal transportation device according to claim 8, wherein, for each of the two wheeled shoes or undersoles, said personal transportation device comprises: a specific sensor;said motor system comprising at least an electric motor coupled to driving supporting means, using energy stored in at least one electric rechargeable battery;an electronic system for controlling the rotational speed of the driving wheels at the required speed and allowing adjusting the engine torque to the value contributing or leading to compensation of the skidding force, the rotational speed being measured by means of a specific sensor;a foot tip control located at the front portion of the upper plate, which, when the back portion is raised with respect to this front portion, enable to increase this engine torque proportionally to the pressure that foot tip control is subjected to by the tip of the supporting foot of the wearer;said foot tip control of the accelerator being a pressure transducer of the tip of the foot on the front portion of the upper plate, which, as soon as the back portion is raised with respect to the front portion, directly acts on the speed order of the electronic control system for increasing the required speed proportionally to the measurement of obtained pressure. 11. The personal transportation device according to claim 10, wherein, for each of the two wheeled shoes or undersoles, the motor system comprises at least an inertia motor with kinetic energy, said inertia motor being coupled to the driving supporting means via a high reduction ratio; the system for controlling the motor speed, hence that of the driving wheels, being inherent to the inertia motor, which physically resists to any change of regime due to the inertial counter torque caused during any forced variation of its speed. 12. The personal transportation device according to claim 8, wherein, for each of the two wheeled shoes or undersoles, said personal transportation device comprises: at least a variable altitude mechanism of the upper plate of the undersole;at least a rotating torque variator;said motor system comprising: at least a mechanical motor operating the gravitational potential energy of the walker himself/herself, by means of said variable altitude mechanism,rendered vertically mobile with respect to the chassis, and mechanically coupled to the driving wheels by racks, cables, chains, belts or gears, and via said rotating torque variator,at least an energy storing device thus being the walker himself/herself, whereof the gravitational potential energy increases when he/she is raised and decreases when he/she is lowered with respect to the ground; controlling the speed of the driving wheels is achieved by the rotating torque variator, whereof the torque variation is controlled by the variable characteristic of the skidding force, namely, the angle α, measured by means of a sensor specific to each of the heel and tip phases of the step. 13. The personal transportation device according to claim 4 or claim 12, wherein the rotating torque variator, enabling a torque variation even when the motor is off, is a system with dual inverted and superposed curvilinear cones, whereof the axes remain maintained in the same vertical plan, the torque variation according to the angle α being controlled by coupling the sensor of the angle α to a control of the inclination of the axis of the upper curvilinear cone in this vertical plan, which makes this curvilinear cone roll on the lower curvilinear cone along their respectively lower and higher generatrice; the two cones also able to turn around their respective axis for the torque transmission which is thus function of the ratio of the radiuses of the section disks at their contact point; the friction required for the torque transmission on the contact area of the curvilinear cones being obtained by applying a force of sufficient pressure on the axis of the upper curvilinear cone, this force able to use, wholly or partly, the component perpendicular to the ground of the force applied to the upper plate by the supporting leg, or the pressure springs on the bearings or rolling bearings of the axis of the upper curvilinear cone. 14. The personal transportation device according to claim 6 or claim 12, wherein the coupling between the motor system and the driving wheels comprises a release mechanism with blockage of the energy storing device, altitude of the plate or spring, engaging automatically when the control of the torque variator corresponds to the null value of angle α, and automatically reengaging, otherwise, such as to enable a free rolling of the wheeled shoe or undersole based on its acquired speed when it is not subjected to any skidding force. 15. The personal transportation device according to any of claim 3, or 10, wherein said foot tip control enabling the gradual increase, in a few steps, of the global speed of the walker, is the front portion of the upper plate, also laterally articulated in order to constitute a pedal mechanically coupled to the driving supporting means, which increases the speed of the driving supporting means by means of the gravitational potential energy brought by the pressure of the body weight of the walker on tiptoe and its sinking by a distance ranging from 4 mm to 40 mm, depending on the prior acquired initial speed by the wheeled shoe or undersole; as long as the back portion of the upper plate does not rise, this pedal being blocked and its coupling with the driving wheels being released, and, at the end of the lowering and during the rising of the pedal, this coupling also being released, in order to enable free rolling based on the acquired speed. 16. The personal transportation device according to claim 11, wherein the inertia motor comprised a flywheel or a counter-rotating flywheel system. 17. The personal transportation device according to claim 15, wherein the pedal is mechanically coupled to the driving wheels by racks, cables, chains, belts, or gears.