US Patent 11279432 Self-balancing foot platform devices

A fore-aft self-balancing transportation device, typically in a pair, one for the right foot and the other for the left foot of a rider. The platform is limited in size and positioned with a top surface wholly above the drive wheel, such that the platform straddles the axis of rotation of the drive wheel. The wheel may extend laterally to enhance side-to-side stability. The devices are configured for hands-free control, a device being driven forward or backward in response to the fore-aft tilt angle of a rider's foot on the platform (and hence, the fore-aft tilt angle of that platform). Various embodiments and features are disclosed.