旋回時の意図有無を考慮した立ち乗り式PMV操縦者の関節モーメントの推定

抄録

In this study, we estimated joint moments of drivers of a stand-up type personal mobility vehicle (PMV) in order to simulate their behavior during turning, considering their intentions. First, we measured human behavior, handle reaction force, and floor reaction force using motion capture, a six-axis force sensor, and a reaction force meter attached to the foot in a vehicle experiment. From the obtained external forces and human behavior, the joint moments of the drivers were calculated using inverse kinematic analysis and inverse dynamic analysis. As a result, it was found that the joint moments of the spine were large, so regression analysis was used to estimate the joint moment of the spine. As explanatory variables for the regression analysis, joint angle and joint angular velocity were used in the conventional model, and joint angle and joint angular velocity, yaw rate, vehicle speed, acceleration, and jerk were used in the new model. As a result, the value of the adjusted R-square R^f₂, which indicates the accuracy of the model, was larger for the new model than for the conventional model. However, the values differ among the drivers. Then, one of the challenges is to increase the data and consider the behavior patterns.