Abstract:
A rotary feedback mechanism includes a first set of electrically conductive pads mounted to a first member and a wiper mounted to a second member. As the first and second members rotate relative to one another, the wiper sequentially contacts one or more pads of the first set of pads and provides an electrical signal to the contacted pad or pads. The electrical signal is communicated via the pad or pads to a controller, providing the controller with an indication of the angular position of the first member relative to the second member.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS  
       [0001]    This application is a division of prior U.S. patent application Ser. No. 10/071,519, filed Feb. 8, 2002, entitled REMOTE-CONTROLLED SKATEBOARD DEVICE, which claimed priority from U.S. Provisional Patent Application 60/267,871 filed on Feb. 9, 2001. 
     
    
     
       BACKGROUND OF THE INVENTION  
         [0002]    This invention generally relates to electronic position transducers, and more particularly to electronic angular position transducers with rotary feedback mechanisms for use in toys. It is believed that a novel rotary feedback mechanism would be desirable.  
         SUMMARY OF THE INVENTION  
         [0003]    In accordance with a preferred embodiment, the invention is rotary feedback mechanism for a toy. The toy includes a first member and a second member adjoining the first member, the first and second members being rotatable relative to one another about an axis extending through the first and second members. The toy further includes a controller at least monitoring relative angular position of the first and second rotary members with respect to one another. The angular position transducer comprises a first set of at least three separate electrically conductive pads non-rotatably mounted to the first member around the axis at least proximal to the second member. A wiper is non-rotatably mounted to the second member abutting the first set of conductive pads so as to sequentially contact at least some of the first plurality of conductive pads with rotation of the first and second members with respect to one another. A signal commonly provided by the wiper to each of the at least three conductive pads in sequence with rotation of the first and second members with respect to one another. An individual signal conductor from each of the at least three conductive pads of the first plurality to the controller to provide the controller with one or more of a plurality of the commonly provided signals from each of the separate conductive pads contacted by the wiper, the controller associating each signal of the plurality of signals with an individual electric pad to identify each particular pad being contacted by the wiper at any given time such that relative angular position of the first and second members with respect to one another is determined by the controller from the commonly provided signals fed back to the controller by each particular conductive pad of the plurality. 
       
    
    
     BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS  
       [0004]    For the purpose of illustrating the invention, there is shown in the drawings embodiments which are presently preferred. It should be understood, however, that the invention is not limited to the precise arrangements and instrumentalities shown.  
         [0005]    In the drawings:  
         [0006]    [0006]FIG. 1 schematically illustrates, in front elevational view, a radio controlled toy skateboard device with a toy figure mounted on a toy skateboard and shown rotated at different positions with respect to the skateboard;  
         [0007]    [0007]FIG. 2 is a side elevational view of the toy skateboard device of FIG. 1;  
         [0008]    [0008]FIG. 3 is a top plan view of the toy skateboard device of FIG. 1;  
         [0009]    [0009]FIG. 4 is a side elevational view of a toy skateboard device according to a second embodiment of the present invention;  
         [0010]    [0010]FIG. 5 is a bottom plan view of the toy skateboard device of FIG. 4;  
         [0011]    [0011]FIG. 6 is an exploded isometric view of the toy skateboard device of FIG. 4;  
         [0012]    [0012]FIG. 7 is a front perspective view of a toy skateboard device according to a third embodiment of the present invention;  
         [0013]    [0013]FIG. 8 is a rear elevation view of the toy skateboard device of FIG. 7;  
         [0014]    [0014]FIG. 9 is a front perspective view of the toy skateboard device of FIG. 7 with a head, torso and arm portions of the toy figure rotated to a far left position;  
         [0015]    [0015]FIG. 10 is a front elevational view of the toy skateboard device with the toy figure in the FIG. 9 position and an arm of the toy figure touching a support surface;  
         [0016]    [0016]FIG. 11A shows inner electronic and mechanical components mounted in a lower shell portion of the toy figure;  
         [0017]    [0017]FIG. 1B shows further inner electronic and mechanical components mounted in the skateboard;  
         [0018]    [0018]FIG. 12 is an exploded isometric view of the skateboard device according to the third embodiment of the invention with the toy figure removed;  
         [0019]    [0019]FIG. 13 is a right side elevational view of the skateboard device third embodiment;  
         [0020]    [0020]FIG. 14 is a top plan view of the skateboard device third embodiment;  
         [0021]    [0021]FIG. 15 is a bottom plan view of the skateboard device third embodiment;  
         [0022]    [0022]FIG. 16 is a front plan view of the skateboard device third embodiment;  
         [0023]    [0023]FIG. 17 is a rear plan view of the skateboard device fourth embodiment;  
         [0024]    [0024]FIG. 18A shows a circuit board according to the present invention for determining the steering position;  
         [0025]    [0025]FIG. 18B shows a wiper arm for use with the circuit board of FIG. 18A;  
         [0026]    [0026]FIG. 19 is an isometric perspective view of a steering control assembly according to the present invention;  
         [0027]    [0027]FIG. 20 is an exploded isometric view of a rear truck assembly according to the present invention  
         [0028]    [0028]FIG. 21 is an exploded isometric view of a forward truck assembly according to the invention;  
         [0029]    [0029]FIG. 22 is a front elevational view of the forward truck assembly of FIG. 21;  
         [0030]    [0030]FIG. 23 is a rear elevational view of the forward truck assembly  
         [0031]    [0031]FIG. 24 is a side elevational view of the forward truck assembly  
         [0032]    [0032]FIG. 25 is a top plan view of the forward truck assembly;  
         [0033]    [0033]FIG. 26 is an exploded isometric view of a torso drive assembly according to the third embodiment for rotating the upper portion of the toy figure with respect to the skateboard.  
         [0034]    [0034]FIG. 27 is a right side elevational view of the torso drive assembly of FIG. 26;  
         [0035]    [0035]FIG. 28 is a front elevational view of the torso drive assembly;  
         [0036]    [0036]FIG. 29 is a cross section of the torso drive assembly taken along line  29 - 29  of FIG. 28;  
         [0037]    [0037]FIG. 30 is a top plan view of the torso drive assembly;  
         [0038]    [0038]FIG. 31 is a top plan view of the torso drive assembly with an upper cover removed to reveal a gear train of the drive assembly;  
         [0039]    [0039]FIG. 32 is a bottom plan view of the torso drive assembly;  
         [0040]    [0040]FIG. 33 is a bottom plan view of the torso drive assembly with a lower cover removed to reveal the gear train;  
         [0041]    [0041]FIG. 34A shows a circuit board according to the present invention for determining the rotational position of the upper portion of the toy figure with respect to the skateboard;  
         [0042]    [0042]FIG. 34B shows a wiper arm for use with the circuit board of FIG. 34A;  
         [0043]    [0043]FIG. 35 is a front view of a transmitter for controlling the toy skateboard device; and  
         [0044]    [0044]FIG. 36 is a rear view of the transmitter of FIG. 35; and  
         [0045]    [0045]FIG. 37 is a side elevation of an alternate steering arrangement. 
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0046]    Referring now to the drawings, and to FIGS.  1  to  3  in particular, remotely controlled toy skateboard device  10  according to a first embodiment of the invention is illustrated. As shown, the toy skateboard device  10  includes a skateboard  12  and a toy FIG. 14 mounted on the skateboard.  
         [0047]    The skateboard  12  includes a platform or deck  16  with a front truck assembly  18  and a rear truck assembly  20  connected to an underside of the platform. Each assembly  18 ,  20  includes a pair of spaced wheels. A first compartment  22  is formed in the platform  16  between the front and rear truck assemblies and a second compartment  24  is formed in the platform behind the rear truck assembly  20 . The first compartment  22  houses an on-board control unit including integrated radio receiver and controller circuitry  26  to control all on-board motors, servos and other electrically operated actuators. A first drive unit in the form of a steering mechanism  28  including an electrically operated actuator (not depicted) and another drive unit in the form of a torso drive unit  30  are located on the platform  16  above the first compartment  22 . The second compartment  24  houses a drive motor  32  for each drive wheel of the rear truck assembly  20  and a battery  34  for powering the integrated receiver and controller, the torso drive unit  30 , steering mechanism  18  and the motors  32 . A battery access door  36  is hingedly connected to the platform  24  adjacent the second compartment  24  for normally closing the second compartment. A pair of rollers  38  are rotatably mounted to a lower rear end of the second compartment  24 . The rollers  38  are normally spaced from the ground  40  or other support surface when the front and rear truck assemblies  18 ,  20  are in contact with the support surface, and can contact the support surface  40  when the front truck assembly  18  leaves the support surface  40  during a “wheelie” maneuver. The toy FIG. 14 includes a lower body portion  50  and an upper body portion  52  rotatably connected to the lower body portion about an axis  54 .  
         [0048]    The lower body portion  50  includes a pair of legs  56  connected to a hip portion  58 . Preferably, the legs  56  are formed in a permanently bent position to simulate the natural stance of a person on a skateboard, but may alternatively flex to a degree about the knees and/or hip portion  58 . In a further embodiment, the toy FIG. 14 may be configured to be responsive to commands from a radio control signal or the like to change the position of the legs  56  and/or hip portion  58 .  
         [0049]    The upper body portion  50  includes a pair of arms  60  and a head  62  connected to a torso portion  64 . Preferably, the arms  60  and head  62  are fixed with respect to the torso portion  64  to simulate the natural stance of a person on a skateboard, but may alternatively flex about the elbows and/or neck. The upper body portion  52  is operably coupled to the torso drive unit  30  by connection  29  (in phantom) to pivot about the axis  54  in response to a received radio control signal. The actual amount of twisting movement can be monitored and controlled through a servo feedback unit, which will be described in greater detail below with respect to further embodiments of the invention.  
         [0050]    The speed and direction of travel of the toy skateboard device  10  is controlled by a portable remote control unit (e.g. FIGS.  35 - 36 ) through wireless transmitted control signals with the on-board control unit by causing the platform  16  to pivot with respect to at least one of the assemblies  18 ,  20  in a way to cause the truck assemblies to turn slightly on the ground under the platform, thereby causing the device  10  to turn. The platform  16  is pivoted on at least the rear truck assembly  18  which is mounted to pivot about an axis  18 ′ (FIG. 2) extending at an angle between horizontal and vertical. Preferably, the direction of travel is also monitored and controlled through a servo feedback unit, as will also be described in greater detail below. Although the use of radio waves is the preferred medium for transmitting the control signals, other wireless means for transmitting control signals to the toy skateboard device  10  can be used, such as infrared, ultrasonic, visible light, and so on. Alternatively, the portable control unit may be directly wired to the toy skateboard device  10 .  
         [0051]    With reference now to FIGS.  4  to  6 , a toy skateboard device  80  according to a further embodiment of the invention is illustrated. The skateboard device  80  includes a skateboard  82  and a toy FIG. 84 mounted to the skateboard.  
         [0052]    As shown most clearly in FIG. 6, the skateboard  82  includes an elongated skateboard deck  85  with a board upper housing  86  and a board lower housing  88 . The upper and lower housings are preferably constructed of injection-molded ABS, or other suitable material, and are secured together through fasteners  90 . Alternatively, the housings may be secured together through adhesive bonding, ultrasonic welding, or other well-known fastening technique.  
         [0053]    A front truck assembly  91  includes a front truck front portion  92  that is pivotally attached to a front truck rear portion  94  through a pivot pin  96  on the rear portion  94  that extends into a bore  98  formed in the front portion  92 . The front truck rear portion  94  includes a generally vertically extending bore  102  through which a fastener  100  extends for mounting the rear portion  94  to the lower housing  88 . The front truck front and rear portions  92 ,  94  are also preferably injection-molded of ABS or other suitable material. A wheel axle  104 , preferably a shaft constructed of steel, extends transversely to the deck from opposite lateral sides  105  of the front truck front portion  92 . Spaced front wheel hubs  106 , preferably constructed of injection molded ABS material, are rotatably mounted on each end of axle  104 . A tire  108 , preferably constructed of an elastomer, is mounted on each hub  106 . A fastener  110  extends through each wheel and hub combination and threads into an outer free end of the axle  104  for holding the assembly together.  
         [0054]    A rear truck assembly  120  includes a rear truck upper housing portion  122  connected to a rear truck lower housing portion  124  through fasteners  125  or other suitable connecting means. The rear truck upper and lower housing portions are preferably injection-molded of ABS or other suitable material. A rear pivot boss  128 , preferably formed of injection-molded Delrin, includes a square-shaped head portion  130  that is mounted in the rear upper housing portion  122  and a cylindrical pivot portion  132  that is secured in or with a bracket  134  for rotation therewith. A pair of electric motors  136  are arranged in opposing relationship transverse to the deck in the rear upper and lower housing portions  122  and  124 , respectively. Each motor  136  has a shaft  138  that extends laterally therefrom. A pinion gear  140 , preferably constructed of brass, and a combo gear  142 , preferably constructed of brass and nylon, are mounted on each shaft  138  in opposite orientations. A combo gear  144 , a rear wheel gear hub  146 , and a rear wheel tire  148  are connected to opposite ends of a rear shaft  150  through a fastener  152  that threads or clips into the shaft. Shaft  150  also extends transversely to the elongated deck. Preferably, the combo gears  144  are constructed of nylon and brass, the rear wheel gear hubs  146  are constructed of nylon, the rear tires are constructed of molded elastomer, and the rear shaft  150  is constructed of steel.  
         [0055]    An on-board control unit  160  with integrated radio receiver and controller are located in a compartment  162  of the board lower housing  88 . On-board control unit  160  permits the receipt and processing of wireless transmitted control signals from a portable remote control unit (see FIGS.  35 - 36 ) to control steering and propulsion of the device  80  and movement of torso of a FIG. 84 (in phantom). An antenna  163  extends through the board upper housing  86  and is connected to the on-board control unit  160 . A first drive unit in the form of a steering mechanism  163  includes an electronically operated actuator  164 , bracket  166  and link arm  168 . Actuator  164  is mounted in a depression  166  formed in the board lower housing  88  and is operably connected to the on-board control unit  160  to control the tilt and thus the steering angle between the rear truck assembly  120  and the deck. Bracket  166  is similar to bracket  134  and is secured to a shaft  164   a  of the actuator  164 . Steering link arm  168  has ball-shaped ends  170  that fit within sockets formed in the brackets  134 ,  166 . In response to rotation of the rotary output shaft  164   a , the platform or deck  85  will tilt generally longitudinally at least about the central axis of pivot boss  128  ( 120 ′ in FIG. 4) with respect to the rear truck assembly  120  to thereby steer the toy skateboard device  80 .  
         [0056]    A pair of rollers  174  are rotatably connected to a lower rear end of the board lower housing  88  through fasteners  176  that extend through the rollers and preferably thread into bosses  178  extending laterally from the housing  88 . The rollers  174  are adapted to contact the ground when the front truck assembly  91  leaves the ground during a “wheelie” maneuver.  
         [0057]    Another drive unit in the form of a torso drive unit  180  is mounted in the compartment  162  and includes a servo housing  182  with a cover plate  186  that encloses an interior  184  of the housing  182 . Another electrically operated actuator, such as a servomotor  188 , is mounted in the housing interior  184  and includes a first rotary shaft  190  that mounts a pinion gear  192 . Combo gears  194 ,  196  and  198  are rotatably mounted on posts  200 ,  204  and  206 , respectively, formed in the housing interior  184 . The combo gear  194  meshes with the pinion gear  192 , while the combo gear  196  meshes with the combo gears  194  and  198 . Preferably, the pinion gear is constructed of brass and the combo gears are constructed of brass and nylon. A rotary output includes a post  207  mounted to the housing  182  through a threaded fastener  208  and washer  210 . A clutch plate  212  is mounted on the post  207  and is normally biased away from a bottom of the housing  182  by a spring  214 . An output clutch gear  216  is mounted to the post  207  between the clutch plate  212  and a spacer  218 . The clutch gear  216  is adapted to mesh with the gear  198  to thereby rotate the post  207  in response to rotation of the servo shaft  190 .  
         [0058]    A rotary drive shaft  220  is connected at one end to the post  207  through a lower U-joint  222  and at the other end to upper torso rotation plate  224  through an upper U-joint  226 . Preferably, the upper and lower rotation plates  224 ,  228  are constructed of Delrin or other suitable material. Arm support rods  230  extend from opposite sides of the upper rotation plate  224 . A contact ball  232  is mounted to an outer free end of each support rod  230 . A head support rod  234  also extends upwardly from the upper rotation plate  224 . Preferably, the support rods  230 ,  234  are formed of fiberglass tubing, but may be formed of solid and/or flexible materials. The contact balls  232  can be formed of nylon or other material. The support rods may support a toy figure constructed of fabric and filler material. Alternatively, the toy figure may be constructed of plastic material in a clamshell arrangement, as shown, for example, in FIG. 7.  
         [0059]    A battery pack  240 , such as a foldable battery pack, is positioned in a compartment  242  for powering the motors, receiver, and electronic circuitry related thereto. See U.S. Pat. No. 5,853,915 incorporated by reference herein. A battery access door  244  is removably mounted to the board upper housing  86  for covering the compartment  242 . A latch  246  cooperates with the door  244  and the board upper housing  86  to keep the door  244  in a normally closed position.  
         [0060]    As in the previous embodiment, the travel direction, travel velocity, and rotation of the torso portion can be remotely controlled through radio frequency or the like.  
         [0061]    With reference now to FIGS.  7  to  34 , a toy skateboard device  300  according to a third embodiment of the invention is illustrated. With particular reference to FIGS.  7  to  10 , the toy skateboard device  300  includes a skateboard  302 . The skateboard  302  includes an elongated board or platform  306  with a front truck assembly  308  and rear truck assembly  310  that extend transversely to the platform and that are connected to an underside of the platform  306 . A toy FIG. 304 is mounted on the platform  306  of skateboard.  
         [0062]    The toy FIG. 304 includes a lower body portion  312  that is preferably fixedly (i.e. non-movably) mounted on the platform  306  and an upper body portion  314  that is preferably pivotally mounted to the lower body portion  312 . The lower body portion includes legs  316 , shoes  318 , and a hip portion  320  (FIG. 8) that are formed as shell halves with a separation or seam line  319  (FIG. 10) that extends generally along a longitudinal centerline of the skateboard device  300 . The upper body portion  314  includes a torso portion  322  with arms  324  and a head  326  extending therefrom. The upper body portion  314  is also preferably formed as shell halves with a separation or seam line  325  (FIG. 7) that extends generally along a longitudinal centerline of the skateboard device  300 . Hands  328  are preferably formed separately and attached to the torso portion  322 . As shown in FIG. 10, the hands  328  are adapted to contact a support surface  40  during skateboard maneuvers, and therefore are preferably constructed of a more durable and wear-resistant material than the arms and torso portion. Accessories, such as a fabric-type shirt  330  and a safety helmet  332  can be worn by the toy FIG. 304 to give a more realistic appearance.  
         [0063]    As shown in FIGS. 7 and 8, the upper body portion  314  is facing in the same direction as the lower body portion  312 , and therefore is in a center position. However, as shown in FIGS. 9 and 10, the upper body portion  314  is twisted to a far left position with respect to the lower body portion  312 . According to a preferred embodiment of the invention, the upper body portion  314  is rotatable between far left and far right positions, and can be stopped at various positions therebetween through user input, as will be described in greater detail below.  
         [0064]    As shown most clearly in FIGS. 11A and 11B, an on-board control unit includes a main circuit board  340  located in the skateboard  302  and a radio receiver circuit board  342  located in the lower body portion  312  away from the main circuit board  340  in order to minimize noise due to motor actuation and/or other interference. Electrical wires (not shown) preferably extend between the circuit boards  340  and  342  so that signals received by the circuit board  342  from a remote control transmitter (e.g.  450  in FIG. 35) can be directed to the main circuit board  340 . The main circuit board  340  preferably includes motor control circuitry  344 , a microcontroller  346 , and other related circuitry for operating the rear truck assembly  310 , a first drive unit in the form of a steering mechanism  362  (FIG. 12) located in the skateboard  302 , and another drive unit in the form of a torso drive mechanism  348  located in the lower body portion  312  in response to the signals received by the circuit board  342 .  
         [0065]    With reference now to FIGS.  12  to  17 , the skateboard platform  306  includes a board upper housing  350 , a board lower housing  352 , and a bumper  354  that is positioned between the upper and lower board housings. The bumper  354  preferably extends around the upper rim  356  of the board lower housing  352  and the periphery  358  of the board upper housing  350 . The upper and lower housings are preferably secured together through fasteners (not shown) or other well-known fastening means, such as adhesive bonding, ultrasonic welding, and so on.  
         [0066]    The front truck assembly  308  is pivotally connected to the underside of the board lower housing  352  through a front saddle bracket  360  to rotate about an axis that extends in an elongated direction of the deck and that is pitched between vertical and horizontal more closely approximating real skateboards than does a vertical axis. Horizontal is represented by a level surface supporting all four wheels of the stationary skate board  302 . The rear truck assembly  310  is also pivotally secured to the underside of the board lower housing  352  to also rotate about an axis  310 ′ (see FIG. 13) extending in an elongated direction of the deck and angled or pitched between vertical and horizontal. The angle of the pivot of platform  306  on rear truck assembly  310  (i.e. about axis  310 ′) affects the turning radius of the skateboard device  300  and is changed through a steering mechanism  362  that is positioned in a rear compartment  364  of the board lower housing  352 . A pivot pin  374  is located on the board lower housing  352  forward of the compartment  364 . A left trim arm  366  and a right trim arm  368  are pivotally connected to the boss  374  through bores  370  and  372 , respectively, formed in the trim arms. As shown in FIG. 11B, the trim arms  366  and  368  are biased toward a center position through a tension spring  376  that extends between the trim arms. An adjusting post  378  fits within a hollow boss  380  formed on the board lower housing and extends between the trim arms  366  and  368 . The post  378  can be accessed from underneath the board lower housing through an adjustment knob  379  to adjust the center position of the trim arms after assembly of the device  300 .  
         [0067]    An outer steering gear  382  is mounted on a drive pivot boss  384  of the rear truck assembly  310 . The outer steering gear  382  meshes with a rotary output of the steering mechanism  362  in the form of an outer steering gear  386 . A centering arm  388  includes a collar portion  390  that is mounted on the drive pivot boss  384  and an arm portion  392  that extends generally upwardly from the collar portion. An upper end of the arm portion  392  is positioned between the trim arms  366  and  368 , opposite the adjusting post  378 . The outer steering gear  382  and the centering arm  388  are held in place on the drive pivot boss  384  through a retaining ring  394  that locks with the boss  384 .  
         [0068]    When the steering mechanism  362  is actuated, rotation of the output gear  386  in one direction causes relative rotation, and thus tilt, between the rear truck assembly  310  and the board lower housing  352  against bias pressure from bias spring  376  through one of the trim arms  366 ,  368 . When power to the steering gear train assembly  362  is turned off, the spring  376  returns the rear truck assembly  310  to its normal (central) position through the one trim arm. Likewise, rotation of the output gear  386  in the opposite direction causes relative rotation in the opposite direction, and thus tilt, between the rear truck assembly  310  and the board lower body portion  312  against bias from the other trim arm. Again, the other trim arm returns the rear drive assembly  310  to its normal position when power to the steering gear train assembly is turned off.  
         [0069]    With additional reference to FIGS. 18A and 18B, a steering position feedback board  410  is preferably mounted to a forward wall  412  (FIG. 12) of the rear compartment  364 . The board  410  has a curved portion  414  with a center of radius  416  that is coaxial with a rotational axis of the drive pivot boss  384 . A plurality of coplanar conductive pads  418 ,  420 ,  422 ,  424 , and  426  are formed on the board  410 . Preferably, the board  410  is a printed circuit board and the conductive pads are formed on the circuit board through etching, screening, or other well-known techniques. A wiper  428  is mounted on the outer steering gear  382  for rotation therewith and with the rear truck  310  about the rotational axis  310 ′ of the drive pivot boss  384 . The wiper  428  is preferably stamped or otherwise formed from conductive metal and includes three contact fingers  432 ,  434  and  436  extending from a mounting portion  430 . The fingers are preferably curved with a center of radius  438  that is coincident with the rotational axis  310 ′ of the drive pivot boss  384 . The contact finger  436  slides in an arcuate path along the conductive pad  418 , while the contact fingers  432  and  434  slide in an arcuate path along the conductive pads  420 ,  422 ,  424 , and  426 . The pad  418  may be connected to either ground or a positive voltage, while the pads  420 ,  422 ,  424  and  426  are connected to a separate input port of the microcontroller for delivering a logical high or low signal. Alternatively, the pads  420 - 426  may be multiplexed or serially gated into a single input port for indicating the relative angular position between the steering feedback board  410  and the wiper  428 , and thus the tilt angle between the rear drive assembly  310  and the board upper and lower housings  350  and  352 .  
         [0070]    In operation, the fingers  432  and  434  will normally be in electrical contact with the pads  424  and  422 , respectively, where the rear drive assembly  3 . 10  is oriented generally parallel to the board upper surface  440  (FIG. 12). In this position, and by way of example, a logical “high” for the pads  422  and  424  is transmitted to separate ports of the microcontroller, indicating that the rear drive assembly  310  is “centered.” As the relative angle or tilt between the rear drive assembly  310  and the upper surface  440  of the board upper housing  350  occurs, such as a tilt in the clockwise direction as viewed from a forward end of the skateboard device  300  (FIG. 16), the fingers  432  and  434  will travel in a clockwise direction. When both fingers  432  and  434  are positioned on the pad  422 , a logical “high” associated with only the pad  422  is sent to the appropriate port of the microcontroller, indicating that the rear drive assembly  310  is “tilted” to a “soft left” position. Likewise, when the finger  432  contacts the pad  422  and the finger  434  contacts the pad  420 , the microcontroller determines that the rear drive assembly is tilted to a “medium left” position. Finally, with both fingers  432 ,  434  contacting the pad  420 , the microcontroller determines that the rear drive assembly is tilted to a hard left position. Thus, there are three discrete left tilt positions from the center position. Likewise, there are three discrete right tilt positions from the center position for a total of seven discrete positions that can be detected by the microcontroller. The discrete positions are used in conjunction with a steering control joystick  452  of a transmitter  450  (FIGS. 34 and 35). The joystick  452  is attached to electrical wipers (not shown) which ride along conductive pads (not shown) to form seven discrete joystick positions corresponding to the seven discrete tilt positions. By way of example, as the user moves the joystick  452  one step to the left, as referenced from a bottom  454  of the transmitter  450  in FIG. 35, a corresponding “soft left” tilt between the rear drive and the board housings will result. Movement of the joystick  453  to the next left position results in a corresponding “medium left” tilt, and so on. The right tilt control is similar in operation and therefore will not be further described. When the joystick  452  is released, the skateboard device  300  returns to the center or “straight travel” direction under return bias from the trim arms, as previously described. Of course, it is to be understood that more or less positions may be provided for the joystick  453  and/or the steering feedback system. Alternatively, an analog arrangement can be used for the joystick  453  and/or the steering feedback system.  
         [0071]    As shown most clearly in FIG. 11B, the main circuit board  340  is received in a forward compartment  396  of the board lower housing  352 . As shown in FIG. 12, a battery support housing  398  is positioned in the rear compartment  364  above the steering gear train assembly  362 . A foldable battery assembly  400  is positioned in the housing  398 . A battery access opening  402  in the board upper housing portion  350  is normally closed with a cover  404  that snap-fits into the opening  402 . A battery contact  406  is located in the board lower housing  352  for connecting the battery to the electrical circuitry. Skid tabs  408  (FIG. 13) are formed on a lower rear portion of the board lower housing  352  to support “wheelie” maneuvers as previously described.  
         [0072]    With reference now to FIG. 19, the steering mechanism  362  includes a housing  470  with a lower housing portion  472  connected to an upper housing portion  474 . An electrically operated actuator, such as a servomotor  476  is mounted in the housing  470  and includes a worm gear  478  that is meshed with a reduction gear train  480 , a portion of which is mounted on a shaft  482 . The gear train  480  includes the outer gear  386  which is exposed through a window  484  in the lower housing portion  472  for meshing with the outer steering gear  382  (FIG. 12). The servomotor  476  includes electrical contacts  486 ,  488  which are connected to the circuit board  340  for actuating the servomotor  476  in response to input by the user, in conjunction with the microcontroller and the steering position feedback system previously described, to steer the skateboard device  300 .  
         [0073]    With reference now to FIG. 20, the rear truck assembly  310  has a housing  500  with an upper housing portion  502 , a lower housing portion  504  connected to the upper housing portion, and a motor housing portion  506  connected to the upper and lower housing portions  502  and  504 , respectively. A pair of oppositely facing rear wheel drive motors  508 ,  510  are located in the housing  500 . A rear axle  512  extends transversely to the deck and through the housing  500  between gear wheels  514 ,  516 . Retainers  518  can be press-fit onto the ends of the rear axle  512  to retain the gear wheels  514 ,  516  on the axle. The gear wheels  514  and  516  are rotatable with respect to the rear axle  512  and are driven by the motors  508  and  510 , respectively, through a reduction gear train including an inner gear  522  formed in the gear wheels  514 ,  516 , reduction gears  528 , and motor gears  530 . Axle bushings  524  support the rear axle  512  in the housing  500  and bearings  526  support the reduction gears  528  that mesh with the motor gear  530  and the inner gear  522 . A rear tire  532  is mounted on each of the gear wheels  514  and  516 . Preferably, the rear tires are constructed of a high friction material. With this arrangement, the wheels  514 ,  516  can be independently controlled, if desired, by the microcontroller through the independent drive motors  508 ,  510  to rotate at different rates, which is especially advantageous when the skateboard device  300  is turning since the distance traveled by the outside wheel is greater than the distance traveled by the inside wheel.  
         [0074]    As shown in FIG. 35, the rotational direction and speed of the wheels  514 ,  516  of the rear truck assembly, and thus the direction and speed of the skateboard device  300 , can be controlled by a user through a joystick  520  on the transmitter  450 . The joystick  520  is preferably similar in construction to the joystick  452 , with seven discrete control positions for neutral, three forward speeds, and three reverse speeds. Of course, it will be understood that more or less control positions may be used. Alternatively, an analog joystick may be used for continuous speed and/or direction control.  
         [0075]    With reference now to FIGS.  21  to  25 , the front truck assembly  308  includes a front axle housing  550  with a front axle  552  that extends transversely to the deck and through the front axle housing. Bushings  554  are positioned in the housing  550  between the front axle  552  and the housing. Wheels  556 ,  558  are mounted at opposite ends of the axle  552  for rotation with respect to the housing  550 . Preferably, the wheels  556 ,  558  rotate independently of each other so that the skateboard device  300  can negotiate turns with greater facility. Retainers  560  are press-fit or otherwise installed on the ends of the front axle  552  for retaining the wheels  556 ,  558  on the front axle. A pivot boss  562  is rotatably received in a cylindrical portion  564  of the housing  550 . A bushing  566 , preferably constructed of flexible elastomeric material, is positioned on the pivot boss  562  and is retained thereon by a washer  570  and threaded fastener  568  that threads into the pivot boss  562 . The diameter of the bushing can be increased or decreased by tightening or loosening the fastener  568 , respectively. The bushing  566  is received in the front saddle bracket  360  (FIG. 12). Increasing the diameter of the bushing while received in the saddle bracket  360  causes more resistance to tilting between the board  306  and the front truck assembly  308 , while decreasing the diameter results in less tilting resistance  
         [0076]    With reference now to FIGS.  26  to  33 , the torso drive assembly  348  includes a gear housing  600  with an upper housing portion  602  connected to a lower housing portion  604  through fasteners (not shown) or the like. A rotary output in the form of a shaft  606  is located in the housing  600 . An upper end  608  of the output shaft  606  extends out of the upper housing portion  602  through an upper bearing  610  that is mounted at the shaft exit point. The upper end  608  of the output shaft is fixedly secured to the upper body portion  314  (FIG. 7) through a securing nut  622  so that rotation of the output shaft causes rotation of the upper body portion  314  with respect to the lower body portion  312 . A lower end  614  of the shaft  606  is received in a lower bearing  615  installed in the lower housing portion  604 . A partial spur gear  612  is mounted on the lower end  614  of the shaft  606  above the lower bearing  615 . A threaded fastener  617  or other connection means secures the spur gear  612  to the shaft  606 . The spur gear  612  preferably extends over an angle of approximately 180 degrees and is driven by a reduction gear train  616  to thereby rotate the output shaft  606 , and thus the upper body portion  314 , through approximately 180 degrees.  
         [0077]    The reduction gear train  616  includes a first compound gear  620  that is mounted for rotation on a first gear shaft  621  that fits in a boss  623  of the lower housing portion  604 . The first compound gear  620  includes an upper gear portion  622  that meshes with the spur gear  612  and a lower gear portion  624 . A second compound gear  626  is mounted for rotation on a second gear shaft  627  that fits in a boss  629  of the lower housing portion. The second compound gear  626  includes a lower gear portion  628  and an upper gear portion  630  that meshes with the lower gear portion  624  of the first compound gear  620 . A third compound gear  632  includes a lower gear portion  636  and an upper gear portion  634  that are mounted for rotation on a third gear shaft  635  that fits in a boss  631  of the lower housing portion. The upper gear portion  634  meshes with the lower gear portion  628  of the second compound gear  626 . The upper gear portion  634  includes axially extending lower teeth  638  that engage axially extending upper teeth  640  of the lower gear portion  636 . The teeth  638 ,  640  form a clutch mechanism that slips when torque on the third gear set  632  is above a predetermined limit, such as when the spur gear  612  contacts a mechanical stop (not shown) on the housing  600  at the end of its travel. In this manner, the torso drive mechanism  348  is less likely to fail. A fourth compound gear  641  extends through the lower housing portion  604  and includes a lower gear portion  642  and an upper gear portion  644 . A splined shaft  646  of the lower gear portion  642  is received within a grooved tube  648  of the upper gear portion  644  for mutual rotation. The upper gear portion  644  meshes with the lower gear portion  636  of the third compound gear  632 . A motor, such as a servomotor  650  is located in a motor housing  652  that includes an upper motor housing portion  654  and a lower motor housing portion  656 . The tube  648  and shaft  646  extend through an opening  658  in the upper motor housing portion  654 . A worm gear  660  is mounted on a shaft  662  of the motor  650  and meshes with the lower gear portion  642 .  
         [0078]    With further reference to FIGS. 26, 34A and  34 B, a torso position feedback board  680  is connected to the upper housing portion  602  and an electrically conductive wiper  682  is mounted on the shaft  606  for rotation therewith. The feedback board  680  preferably includes four arcuate, electrically conductive contact pads  684 ,  686 ,  688 , and  690  with a center of radius  692  that is coincident with the axial center of the shaft  606 . Preferably, the feedback board  680  is a printed circuit board with the contact pads formed thereon through etching, screen printing, or other well-known techniques. The wiper  682  is preferably stamped or otherwise formed of sheet metal and includes three arcuate contact fingers  694 ,  696 , and  698  with a center of radius  700  that is coincident with the axial center of the shaft  606 . During rotation of the shaft  606 , the contact finger  694  slides in an arcuate path along the conductive pad  684 , while the contact fingers  696  and  698  slide in an arcuate path along the conductive pads  686 ,  688 , and  690 . The pad  684  may be connected to either ground or a positive voltage, while the pads  686 ,  688 , and  690  are connected to a separate input port of the microcontroller for delivering a logical high or low signal. Alternatively, the pads  686 - 690  may be multiplexed or serially gated into a single input port for indicating the relative angular position between the shaft  606  and the housing  600 , and thus the relative angular position between the lower body portion  312  (FIG. 7) and the upper body portion  314 .  
         [0079]    In operation, the fingers  696  and  698  will normally be in electrical contact with a center of the pad  688 , where the upper torso portion  314  is oriented generally parallel to the lower torso portion  312 , and thus a side of the board  306  as shown in FIGS. 7 and 8. In this position, and by way of example, a logical “high” for only the pad  688  is transmitted to a port of the microcontroller, indicating that the upper body portion  314  is “centered.” As the relative angle changes between the upper and lower body portions, such as when the upper body portion rotates to the toy figure&#39;s far left position as shown in FIG. 9, the fingers  696  and  698  will travel in a counter-clockwise direction as viewed in FIG. 34A. When both fingers  696  and  698  are positioned on the pad  686 , a logical “high” associated with only the pad  686  is sent to the appropriate port of the microcontroller, indicating that the upper body portion is rotated to a far left position. Likewise, when the fingers are in contact with only the pad  690 , the microcontroller determines that the upper body portion is in a far right position with respect to the lower body portion. Thus, according to a preferred embodiment of the invention, three discrete rotational positions of the upper body portion are detected by the microcontroller. It is to be understood that more or less discrete positions may be provided.  
         [0080]    With further reference to FIG. 36, the discrete positions are used in conjunction with control buttons  710  and  712  located on the back of the transmitter  450 . The control buttons  710  and  712  are preferably momentary switches that can be pressed by a user to control movement of the upper body portion with respect to the lower body portion. By way of example, when the control button  710  is pressed and held, the upper body portion  314  rotates approximately 90 degrees to the far right position until the button  710  is released, whereupon the upper body portion returns to its centered position. Likewise, pressing and holding the control button  712  causes rotation of the upper body portion  314  approximately 90 degrees to the far left position until released, whereupon the upper body portion returns to its centered position. With the feedback system, the microprocessor can control proper directional rotation of the motor  650  to rotate the upper body portion from its centered position and back again.  
         [0081]    Manipulation of the joysticks  452  and  520  in conjunction with the control buttons  710  and  712  causes the skateboard device  300  to perform a variety of different maneuvers and stunts, to thereby simulate the real movement of an actual skateboarder.  
         [0082]    It will be understood that the terms upper, lower, side, front, rear, upward, downward, horizontal, and their respective derivatives and equivalent terms, as well as other terms of orientation and/or position as may have been used throughout the specification refer to relative, rather than absolute orientations and/or positions.  
         [0083]    It will be appreciated by those skilled in the art that changes could be made to the embodiments described above without departing from the broad inventive concept thereof. For example, it will be appreciated that the truck assembly not directly coupled with a steering mechanism, i.e. the front truck assemblies  18 ,  91  and  308  can be pivotally connected with the platform  16 ,  86 / 88 ,  306  to also pivot about an axis, e.g.  18 ′ in FIG. 2,  91 ′ in FIGS. 4 and 308′ in FIG. 13 which is also pitched at an angle between horizontal and vertical, suggestedly mirroring the angle of the pivot axis of each rear truck assembly so that the front truck assemblies will turn in a mirror fashion to the rear truck assemblies to define a radius of turn with the rear truck assemblies. It will be understood, therefore, that this invention is not limited to the particular embodiments disclosed, but it is intended to cover modifications and uses within the spirit and scope of the present invention as defined by the appended claims.