Abstract
We have been developed an electric skateboard considering dynamics of a driver standing on the board. In general, the mechanism of posture control in upright standing of human is not completely understood. In this application, delay time of human body is very important because it is difficult to estimate the value and it has influence on stability of the system. In this study, we focus on the delay time in posture control. If a human standing on the board is regarding as a single pendulum system with spring, appropriate delay time depends on natural period of the system. On the other hand, the structural natural period varies according to the stance width. As a result, we assume that the delay time of posture control changes according to the stance width. The purpose of this study is to clarify the relation between stance width and delay time of human posture control on frontal plane. We implemented impulse response tests in upright standing and estimate the delay time by transfer function assuming that the system is composed of a single pendulum and control torque is generated by proportional and derivative feedback control with delayed feedback. Center of mass of human body is estimated by motion capture system and center of pressure is estimated by load mesurement devices in experiment. In this report, we denote the delay time estimated from experimental results.
