and began to spread into use in urban settings for both recreation and practical transportation.

Dean Kamen applied for his first patent for a 'human transporter', the Segway PT, in 1994. This was followed by other patent applications prior to its product launch in late 2001 and first deliveries to customers early in 2002.

Trevor Blackwell demonstrated a self-balancing unicycle based on the control-mechanism from a Segway PT in 2004 for which he published

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