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The Segway PT, referred to during development and initial marketing as the Segway HT, was developed from the self-balancing iBOT wheelchair which was initially developed at University of Plymouth, in conjunction with BAE Systems and Sumitomo Precision Products. Segway's first patent was filed in 1994 and granted in 1997, followed by others, including one submitted in June 1999 and granted in October 2001.