Drive disks are configured to rotate a main wheel by applying a frictional force thereto. Each of the drive disks includes a base and a plurality of rollers. The base includes a first sheet metal member and a second sheet metal member. The first sheet metal member includes a first central part and a plurality of first arm parts. The second sheet metal member includes a second central part and a plurality of second arm parts. Each of the rollers has a first end and a second end. Each of the first arm parts includes a first supporting part and a second supporting part. Each of the second arm parts includes a third supporting part and a fourth supporting part. The first supporting part and the second supporting part are inclined to each other. The third supporting part and the fourth supporting part are inclined to each other.

A device with rotatable footpads for use with interactivity systems and method for same are disclosed. The apparatus may comprise two footpads, wherein the two footpads rotate independently with respect to at least one axis; a plurality of sensors that detect the rotation of each footpad; and a controller transmitting signals from the plurality of sensors representing the rotation of each footpad to a virtual reality or teleoperation system. The method for using the apparatus may comprise stabilizing footpads by a mechanical means detecting the rotation of the footpads on an at least one axis passing through the footpads via sensors of the footpads that detect rotation of the footpads; and transmitting a digital representation of the rotation of the footpads to an interactivity system.

The disclosure provides a control device capable of smoothly performing a turning operation due to an external force for a mobile body having a movement operation part and a seat part of occupant. A control device which performs a movement control of movement operation parts a mobile body estimates a movement rotational force in the yaw direction according to a movement of the mobile body and a rotational driving force in the yaw direction according to a driving forces of an actuator, and estimates an external force rotational force, which is a rotational force in the yaw direction due to an external force applied to the mobile body, based on these estimation values. A turning operation of the mobile body is performed according to an estimation value of the external force rotational force and a maneuver operation of the mobile body.

The present invention relates to a rideable saddle vehicle (200) comprising: an electric traction motor (1) which includes a stator and rotor; a first vehicle speed measurement sensor configured to generate a first signal (6.1) which is characteristic of the vehicle speed; a control system of the vehicle comprising; a first unit (2) for supplying and controlling said electric motor (1), wherein said first unit (2) supplies and controls said electric motor (1) on the basis of a control signal (5.1), said control signal (5.1) being characteristic of the torque required to said electric motor (1); a computing unit (20) configured to generate a second signal (7.1) which is characteristic of the speed of the vehicle, wherein said computing unit (20) comprises first computing means (4) configured to calculate the angular position of said rotor with respect to said stator on the basis of the counter-electromotive force produced by said electric motor (1), and wherein said second signal (7.1) is generated on the basis of the value of said position calculated by said computing means (4); wherein said control signal (5.1) is generated on the basis of a torque signal (8) and on the basis of said first signal (6.1) and/or said second signal (7.1) which are characteristic of the speed of said vehicle.

A tire force estimating device estimates tire forces which are forces applied from a ground surface to a wheel of a vehicle which turns in a bank state in which a vehicle body is tilted around a forward-rearward axis. The tire force estimating device includes a first tire force estimating section which estimates the force applied from the ground surface to the wheel, based on a change over time of a motion state of the vehicle body within a plane perpendicular to the forward-rearward axis.

A single-wheeled balance vehicle comprises a motor, pedals, a wheel, a power module and a control module. The motor comprises a motor housing and a spindle. The power module and the control module are fixed to the spindle. The power module comprises at least one power unit. The control module comprises a first control unit electrically connected to the power unit and the motor. The two ends of the spindle are fixedly connected to the pedals respectively. The wheel is of a hollow structure having two ends formed with openings, is arranged on the motor housing in a sleeving manner and is fixedly connected to the motor housing. The power module and the control module are located in the wheel. Miniaturization of the single-wheeled balance vehicle is facilitated, and the service life of the single-wheeled balance vehicle is prolonged.

There is provided a protection structure of a rear combination lamp provided at a rear portion of a straddle-type vehicle. The protection structure of the rear combination lamp includes: an undercover covering the rear combination lamp from below; and a rear fender covering a rear wheel from above, the rear fender being below the undercover. The undercover extends along a lower edge of the rear combination lamp. A size of the rear fender in a vehicle width direction is smaller than a size of the undercover in the vehicle width direction in a vehicle rear view.

There is provided a protection structure of a rear combination lamp provided at a rear portion of a straddle-type vehicle. The protection structure of the rear combination lamp includes: an undercover covering the rear combination lamp from below; and a rear fender covering a rear wheel from above, the rear fender being below the undercover. The undercover extends along a lower edge of the rear combination lamp. A size of the rear fender in a vehicle width direction is smaller than a size of the undercover in the vehicle width direction in a vehicle rear view.

A electric personal mobility device may include a main body including a rider-support-platform structure and a steering column coupled to the rider-support-platform structure. The electric personal mobility device may further include a wheel arrangement, having at least one front wheel and at least one rear wheel, supporting the main body. The at least one front wheel may be steerable by the steering column. According to various embodiments, the rider-support-platform structure may include an elongate hollow housing structure enclosing an internal space partitioned to define a first and second longitudinal-internal-battery-compartments. Each longitudinal-internal-battery-compartment may be extending lengthwise along respective longitudinal side of the elongate hollow housing and having a respective rear opening at an aft portion of the elongate hollow housing structure. The rider-support-platform structure may include a rear-wheel-fork fixedly extending longitudinally from the aft portion between the rear openings. The rear-wheel-fork may be holding the at least one rear wheel.

A electric personal mobility device may include a main body including a rider-support-platform structure and a steering column coupled to the rider-support-platform structure. The electric personal mobility device may further include a wheel arrangement, having at least one front wheel and at least one rear wheel, supporting the main body. The at least one front wheel may be steerable by the steering column. According to various embodiments, the rider-support-platform structure may include an elongate hollow housing structure enclosing an internal space partitioned to define a first and second longitudinal-internal-battery-compartments. Each longitudinal-internal-battery-compartment may be extending lengthwise along respective longitudinal side of the elongate hollow housing and having a respective rear opening at an aft portion of the elongate hollow housing structure. The rider-support-platform structure may include a rear-wheel-fork fixedly extending longitudinally from the aft portion between the rear openings. The rear-wheel-fork may be holding the at least one rear wheel.