Patent ID: 9027690
Filing Date: 2015-05-12
Classification: A63C

Abstract:
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; and a 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: 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.