I've had similar issues on my three machines, gen 1 and gen 2.
All were "fixed" by removing the batteries and then ever so slightly bending the data pins on the batteries off center. This tightens and even burnishes the connections between the Segway CU boards and the batteries when they are reattached.
Contact cleaner can also sparingly be used to further clean the connections by installing and removing the batteries several times to burnish the connections.
I'm sure there are skeptics out there, but this has worked for all three of my machines.
YMMV...
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