抄録
Recently, increasing numbers of very small-sized vehicles like a personal mobility have been developed. As the mass of such small-sized vehicle is often comparable to that of their drivers, the coupling behavior between them is increasing in comparison with traditional vehicle types. Therefore, when developing small-sized vehicles, the dynamics of the human body riding inside them should be considered. In this research, a model of a human body inside a small-sized personal vehicle is proposed. However, whole body model has multiple degrees of freedom and property. Furthermore, the influence of parameters of human is uncertainty and it is difficult to set accurate parameters. Accordingly, the dynamics of only trunk of the human body on a vehicle has been studied. Thus, in order to evaluate the performance of personal mobility, vehicle-human dynamics model considering interaction is proposed. In particular, consider the influence on the vehicle design by the change of the parameter representing the reaction delay of the human body. Consequently, it is confirmed that safety is impaired in the condition that reaction delay is large. In control design of inverted pendulum type personal mobility, we found that it is necessary to consider the human control system.
