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The 'Segway PT' is a two-wheeled, self-balancing transportation device invented by Dean Kamen and unveiled in December 2001. It is produced by Segway Inc. of New Hampshire. The name "Segway" is a homophone of "segue" (a smooth transition, literally Italian for "follows"). ''PT'' is an initialism for ''personal transporter'' while the old acronym ''HT'' was an initialism for ''human transporter''.
Computers and motors in the base of the device keep the Segway PT upright at all times. Users lean forward to go forward, lean back to go backward, and turn by using a "Lean Steer" Handlebar, leaning it left or right. Earlier HTs used a twist grip to steer by twisting the grip left and right. Segway PTs are driven by electric motors at up to 5.6 m/s (12.5 mph/20 km/h). Gyroscopic sensors, (see vibrating structure gyroscope) are used to detect tilting of the device which indicates a departure from perfect balance. Motors driving the wheels are commanded as needed to bring the PT back into balance.
The Segway PT is designed to replace larger forms of personal transportation such as automobiles. Kamen has stated that 500 million car trips per day in the United States are less than 5 miles and single-passenger, and that if only a percentage of those used a tiny electric "car" instead, the positive effects could be considerable. In laws that regulate it, the applicable category is sometimes called "electric personal assistive mobility device" (EPAMD). A niche that Segways have been often adopted into is transportation across military bases, corporate campuses or industrial sites, or neighborhood in place of walking or bicycles.

Contents

History

Sales

Technology

Uses

Models

Operation

Bans and restrictions

United States

Europe

Japan

Cost

See also

References

External links

History

The Segway PT has been known by the names ''Ginger'' and ''IT'' in the past. The name ''Ginger'' followed the name of the project the Segway branched from: the inspiration behind the Segway PT came from the balancing technology of Kamen's innovative wheelchair, the iBOT, a wheelchair which can climb stairs, and prop itself up to balance on two wheels, thus raising the user up to an eye-level position. The first iterations of balancing technology were done in early Segway models. It was called ''Fred Upstairs'', after Fred Astaire — hence ''Ginger'' after Astaire's regular feature film partner, Ginger Rogers. The advance buzz about the then-unknown product was, at times, hyperbolic. Steve Jobs claimed that it would be "as big a deal as the PC".^[1]
In September 2003 the Segway PT was recalled because of the possibility of some PTs not being able to provide enough propulsive power to maintain balance while still in motion, particularly when the batteries are near the end of charge, allowing the rider to fall^[2]. With a new software patch to version 12.0, the PT will automatically slow down and stop in response to detecting that the battery's power capability is low, thus allowing a rider to dismount safely.
In August 2006, Segway discontinued all previous models and announced new second generation designs that upgraded many elements of the previous transporters. The Gen II PT, marketed under the two product lines, i2 and x2, allows users to steer by leaning to the right or left, which matches the intuitive nature of leaning forward and backward to accelerate and decelerate. Another feature is wireless InfoKey access.^[3]
In September 2006, all 23,500 of the vehicles were voluntarily recalled. A glitch within the "speed limiter" created a risk of causing a rearward torque to be suddenly applied to the wheels, throwing off its rider.^[4][5] Segway released a patch to its software (version 14.2) to resolve the problem.
The invention, development, and financing of the Segway is the subject of a narrative nonfiction book, Code Name Ginger (in paperback as Reinventing the Wheel), by journalist Steve Kemper.

Sales

In 2003, the company had sales of 6,000 units and as of September 2006, approximately 23,500 had been sold.^[6] The company has reported 50% year over year increases in sales.
In May 2006, Segway Inc. reported that the city of Chicago had signed a five-year, $580,000 contract to purchase 100 Segway PTs, associated accessories, replacement parts and service, for use in several city departments, including Police, Fire, Airport Operations and Emergency Management. It is the largest municipal contract the company has landed to date.^[6]

Technology

The dynamics of the Segway PT are identical to a classic control problem, the inverted pendulum. The Segway PT has electric motors powered by batteries which can be charged from household current. It balances with the help of dual computers running proprietary software, two tilt sensors, and five gyroscopes. (The gyroscopes do not affect the balance; they are merely used as sensors.) The servo drive motors rotate the wheels forwards or backwards as needed for balance or propulsion. The rider accelerates or decelerates by leaning forward or backwards in the direction he wishes to travel. On older models, steering is controlled by a twist grip on the left handlebar, which simply varies the speeds between the two motors, rotating the Segway PT (a decrease in the speed of the left wheel would turn the Segway PT to the left). Newer models enable the use of "leaning" to steer as well as move forwards or backwards.
The Segway PT is built simply to stay balanced in one place. Designed to mirror the process of human walking, if the rider standing on an initially balanced Segway PT leans forward, therefore offsetting the balance, the PT moves forward to regain balance just as in walking a leg moves forward to retain balance. With the Segway PT, changes from a balanced status are first detected by the gyroscopes, and signals are passed on to the onboard computers which then direct motors to regain balance. This process occurs about 100 times per second, so small adjustments to maintain balance occur almost immediately after the balance is offset by the rider.^[8]
The side effect of this balancing system is that as the Segway PT balances itself the entire unit changes position in the direction it has moved to restore balance. (For example, if the rider leans forward, the entire Segway PT will move forward from its original position, until the rider restores an upright position on the unit.) This is precisely how the Segway PT is controlled - the balancing and movement is essentially one combined system.
The Segway PT features a governor (speed limiting) mechanism. When the Segway PT approaches the maximum speed allowed by the software, it intentionally begins to tilt slightly backwards. This moves the platform out in front, and leans the handlebars backwards towards the rider, eventually nudging the rider to lean back slightly and slow the Segway PT down. If not for the governor, riders would be able to lean farther than the motor could even compensate for. The Segway PT also slows or stops immediately if the handlebar of the unit (or forward bag) nudges into any obstacle.

Uses

The Segway PT is designed to be used on sidewalks, other pedestrian areas, as well as bicycle lanes and city streets depending on local laws. Its footprint is not much bigger than that of a human being, approximately half a meter (or four foot) square.
It is used in some theme parks by both visitors and employees. Some companies are known to organize guided group tours on Segway PTs in the USA, France, Thailand and other countries. Certain organizations have run pilot tests on Segway business use, among them police departments, post offices, warehouses, and utility companies.
Some disabled people (4000-7000, according to a group called Disability Rights Advocates for Technology) use Segways to enhance their mobility. Using a Segway PT instead of a traditional wheelchair or iBOT (which costs four to five times as much as a Segway PT) allows them to easily travel around the city, while easing social interactions. This has also been supported by a product called the SegSeat that adds a seat to the Segway PT for users with limited capacity to stand for long periods. Segways cannot be marketed in the US as medical devices, because they have not been approved by the Food and Drug Administration as a medical device. Johnson & Johnson has exclusive rights to the medical uses of the balancing technology found within the iBOT and Segway PT.

Models

Previous versions included (in order of release):

★ Segway i167 - Titanium color base. One of the first two Segway HTs released.

★ Segway e167 - The same as the i167, but with the Electronic Kickstand (allowing the HT to stay balanced without a rider). The e167 also came standard with the upper and lower cargo structures.

★ Segway HT p133 — Human Transporter - Smaller platform and wheels and less powerful motors than the i and e Series.

★ Segway i170 - Midnight Blue color base. Otherwise, the same as the i167.

★ Segway i180 - Available with Sport Red, Solar Yellow, and Midnight Blue colored fenders. Optional Saphion®^[9] Lithium-ion batteries ^[10]

★ Segway XT - The first Segway HT designed specifically for recreation.

★ Segway GT — Golf Transporter
Top speed was 4.5 m/s in the p-Series.
In 2006, new series, i2 and x2, were released, replacing the older lineup:

★ i2: Uses the new LeanSteer and InfoKey technologies; available in black or white (black anodized LeanSteer assembly, white glossy LeanSteer assembly).

★ x2: The new XT model, same upgrades, with its own special software for off-road use. Can be equipped with a golf bag carrier, replacing the GT model. Turf Tires Available.
The Segway's i-Series model's maximum speed is 12.5 mph (approximately 20 km/h). Maximum power is 2 horsepower (1500 watt) per servo motor. The i-Series is capable of covering 15-24 miles (24-38km) on a fully charged lithium ion battery, depending on terrain, riding style, and the condition of the batteries.^[11] It takes 8-10 hours to complete a full balancing and recharging cycle. For each 15 minutes of time re-charging, the batteries regain a mile of charge. The batteries also recharge while riding downhill. The p-Series is capable of covering 6-10 miles (10-16km) on a fully charged nickel metal hydride (NiMH) battery, depending on terrain. It takes 4-6 hours to recharge, and regains 1 mile for every 30 minutes charging.
Various models weigh from approximately 65 to 100 pounds or 30 to 45 kilograms.

Operation

The original Segway models were activated using one of three keys:

★ Black Key — for beginners. Slowest speed (electronically limited to no more than 6 mph); slower turning rate.

★ Yellow Key — for intermediate users and/or pavements. Faster speed-up to 8 mph; faster turning rate.

★ Red Key — for more advanced users in open areas. Maximum speed-up to 10 mph on p-Series and 12.5mph on i-Series; and max turning rate.
For the new i2 and x2, an InfoKey is used to control settings. The Infokey can turn on the PT from up to 15 feet away, as well as turn on beginner mode (the equivalent of the old Black Key) or advanced mode (the equivalent of the Red Key), show mileage and a trip odometer, as well as put the Segway into Security mode, which locks the wheels and will set off an alarm if moved, to prevent theft.

Bans and restrictions

United States

The company has challenged bans and sought exemption from pavement restrictions in over 30 states. The Segway has been banned from use on sidewalks and in public transportation in a small number of municipalities, often based on the fact it is not classified as a medical device. The Segway generally does not fall into the category of exempt devices such as powered wheelchairs, but is more of a vehicle somewhere between a bicycle and motor scooter. Advocacy groups for pedestrians and the blind in the US have been critical of Segway use. Specifically, America Walks and the American Council for the Blind oppose allowing the Segway to be driven on sidewalks, even for those with disabilities, and have actively lobbied against any such legislation. America Walks' official position^[1] is:
The American Council of the Blind's official position^[2] is:
Notable bans:

★ In November 2002, before it was widely available, the city of San Francisco banned the Segway from sidewalks citing safety concerns.^[12] However, a number of Segway Tour operations use them anyway.

★ In February 2004, Disney banned Segways from its theme parks, stating they had not been approved by the FDA as medical devices.^[13] However in that same month^[14], Disney began offering Segway tours of its Epcot theme park, costing $85 USD for two hours.^[15] In early August 2007, Disney began offering a similar guided tour for $99 in its Disney's California Adventure park in California.^[16]

Europe

In January 2007, it was made illegal to use a Segway on public roads in the Netherlands where, until recently, a tolerance policy was in place due to the inability of the authorities to classify the Segway as a vehicle. However, certain handicapped people (primarily heart and lung patients) are allowed to use the Segway, but only on pavements. It is likely that in the future the Segway will be allowed back on the streets, but the Dutch government is currently waiting to conduct road safety tests first. ^[17]
It is unlawful to use a Segway on any public road or pavement in the UK and in Sweden.^[18]
In Germany the use of Segways is only allowed on private grounds except for some city tours that require a special permit. However federal legal action to classify the Segway similar to a bike or powerchair is under way. On April 25. 2007 the use of Segways on public bike paths, sidewalks and roads within city limits was allowed in the state of Saarland after local police had successfully tested it.

Japan

In Japan, the Segway is treated as a motorcycle with an engine displacement between 50cc and 125cc. As such, the vehicle must be equipped with brakes and signal lights, and must register for a license plate. It is very difficult to equip current Segway models to meet these standards, making it virtually impossible to lawfully use Segway on public roads in the country.^[19]

Cost

The cost of purchasing a Segway varies depending on which model is chosen. In the US, a new Segway currently (MSRP, August 2007) costs between $5,145 and $6,175.^[20]
In the UK, the costs are around £3,995^[21] to £4,299^[22] excluding delivery costs.
It is also possible to rent Segways in some American and European cities, for around €70 ($95 USD)^[23] per person per day.

See also

★ Segway Polo

★ Segway Fest

★ Bay Area SEG

★ Sinclair C5

References

1. http://www.time.com/time/business/article/0,8599,186660-1,00.html
2. http://www.cpsc.gov/cpscpub/prerel/prhtml03/03553.html
3. http://www.segway.com/personal-transporter/model_i2.html
4. http://www.cpsc.gov/cpscpub/prerel/prhtml06/06258.html
5. http://news.com.com/Injury+risk+prompts+recall+of+all+Segways/2100-11392_3-6115671.html
6.
7.
8. http://travel.howstuffworks.com/ginger2.htm
9. http://www.valence.com/saphion.asp
10. http://www.segway.com/product-archive/model_i180.html
11. http://www.segway.com/segway/lithium_ion.html
12. http://www.sfweekly.com/2002-12-18/news/showing-segway-the-highway/
13. http://www.msnbc.msn.com/id/4217573
14. http://www.mouseplanet.com/articles.php?art=wd040216mg
15. http://disneyworld.disney.go.com/wdw/parks/tourDetail?id=AroundtheWorldEpcotTourPage
16. http://disneyland.disney.go.com/disneyland/en_US/parks/tours/detail?name=CruzinDisneysCaliforniaAdventureParkTourPage
17. Segway voor gehandicapten toegestaan, 2007-04-04
18. http://www.dft.gov.uk/pgr/roads/vehicles/vssafety/regulationsforselfbalancings4565
19. http://response.jp/issue/2004/0412/article59422_1.html (Japanese)
20. http://www.segwaybythebay.com/products.html
21. http://www.segway-uk.net/x2golf.html
22. http://www.segway-uk.net/i2.html
23. http://www.citysegwaytours.com

External links

★ Official Site

★ Directory of Segway Guided Tours (worldwide)

★ Madrid segway tours

★ spain tours directory

★

★ Segway Gallery

★ Gallery of Segway photos with technical specs

★ [3] Video includes all-terrain Segway on US military base.