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に対する相関分析

抄録

In this study, we conducted a correlation analysis between the joint moments and the variables obtained from the experimental data to estimate the joint moments of the driver in order to simulate the driver's behavior during turning considering the driver's intention of a stand-up type personal mobility vehicle (PMV). First, in the vehicle experiment, human behavior, handle reaction force, and floor reaction force were measured using motion capture, 6-axis force sensor, reaction force meter attached to the foot, and reaction force meter attached to the vehicle. From the obtained external forces and human behavior, the joint moments of the driver were calculated using inverse kinematic analysis and inverse dynamic analysis. Then, correlations such as external forces and vehicle speed to the calculated joint moments were investigated. As a result, it was found that the correlation with external forces was high when both the driver operated the vehicle by himself and automatically. In addition, when focusing on the direction of centrifugal force, the correlation between the speed of the vehicle in the direction of centrifugal force and the angle of the joint of tibia, ulna, humerus and pelvis, and the joint angular velocity of the pelvis joint with respect to the joint moment was also high when the driver operated the vehicle by himself.