A harmonic ring gear system can include at least one inner gear with external toothing, the at least one inner gear defining an axis of rotation; at least one outer gear with internal toothing arranged concentrically to the at least one inner gear about the axis of rotation, the internal toothing spaced apart from the external toothing; a pin ring positioned between the at least one inner gear and the at least one outer gear, the pin ring comprising a multiplicity of pins; and a rotary transmitter configured to lift a portion of the pins of the multiplicity of pins off the external toothing and press the portion of the pins into the internal toothing.

A harmonic ring gear system can include at least one inner gear with external toothing, the at least one inner gear defining an axis of rotation; at least one outer gear with internal toothing arranged concentrically to the at least one inner gear about the axis of rotation, the internal toothing spaced apart from the external toothing; a pin ring positioned between the at least one inner gear and the at least one outer gear, the pin ring comprising a multiplicity of pins; and a rotary transmitter configured to lift a portion of the pins of the multiplicity of pins off the external toothing and press the portion of the pins into the internal toothing.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

A harmonic ring gear system can include at least one inner gear with external toothing, the at least one inner gear defining an axis of rotation; at least one outer gear with internal toothing arranged concentrically to the at least one inner gear about the axis of rotation, the internal toothing spaced apart from the external toothing; a pin ring positioned between the at least one inner gear and the at least one outer gear, the pin ring comprising a multiplicity of pins; and a rotary transmitter configured to lift a portion of the pins of the multiplicity of pins off the external toothing and press the portion of the pins into the internal toothing.

A harmonic ring gear system can include at least one inner gear with external toothing, the at least one inner gear defining an axis of rotation; at least one outer gear with internal toothing arranged concentrically to the at least one inner gear about the axis of rotation, the internal toothing spaced apart from the external toothing; a pin ring positioned between the at least one inner gear and the at least one outer gear, the pin ring comprising a multiplicity of pins; and a rotary transmitter configured to lift a portion of the pins of the multiplicity of pins off the external toothing and press the portion of the pins into the internal toothing.

A variable speed drive (37) is described, comprising: a ring (60) adapted to rotate about a first rotation axis; two coaxial disks (73), rigidly connected to each other, adapted to rotate about a second rotation axis (B-B) parallel to the first rotation axis; wherein the ring (60) is at least partially housed between the two coaxial disks (73); a plurality of driving members (75), carried by the ring (60) and arranged according to a circular arrangement coaxial to the ring (60); said driving members are arranged and configured to cooperate with opposite surfaces (73A) of the two coaxial disks (73), transmitting a rotation motion from the ring (60) to the two coaxial disks (73); a device for adjusting the distance between the first rotation axis and the second rotation axis. A drive device (17) of an assisted-pedal human-powered vehicle (10) which includes such a drive is also described.

An electric powered bicycle includes front and rear wheels (102, 104) that swivel relative to a midframe (106). The midframe (106) includes a pedal driven generator-motor (108), and each wheel (102, 104) includes a motor-generator. The wheels (102, 104) may swivel to opposite sides of the midframe (106) about 180° to move into a collapsed configuration. Swivel may be on single axis joints (162, 168) with tilted swivel axes. In the collapsed configuration, the bicycle is suitable to be carried and stored and may also be utilized in a unicycle/exercycle configuration. By swiveling the wheels (102, 104) to the same side of the midframe (106) about 90°, the bicycle can be placed into other configurations including a walker, a rolling seat, and a chariot to carry packages or a person.

A drive pulley for a CVT has a fixed sheave, a movable sheave, a spider, a biasing member biasing the movable sheave axially away from the fixed sheave, at least one centrifugal actuator and at least one slider assembly. The at least one slider assembly has a slider block connected to one of the movable sheave and the spider and abutting another one of the movable sheave and the spider. The slider block slides along the other one of the movable sheave and the spider as the movable sheave moves axially. The at least one slider assembly transfers torque between the movable sheave and the spider. A slider block for a drive pulley of a CVT is also described.

A rack driven human powered vehicle utilizes a rack and pinion system to provide a more efficient method of propulsion. The rack and pinion system may take the linear momentum of at least one driving rack and may transfer it to rotational momentum for at least one freewheel sprocket which may turn the wheel providing momentum for the vehicle.