3P1-I10 Basic research on a personal mobility vehicle for rough terrain, which is supported by mobility support system(Project Summary Report)

Abstract

In this project, a new type of personal mobility vehicles (PMV) were developed. The goal is to realize the ability to move in a common urban environment. The developed PMVs have the minimum possible number of driving axes for a design in which the seat can be maintained in a horizontal posture whilst movement by wheels and legs is also possible. The gait algorithm was proposed as a unique method to utilize legs in various ways depending on the road surface, while moving with wheels. In addition, to support the user's control is important when driving it. Therefore, mobility support systems (MSS) were developed and their functionalities verified. For example, the IR system offers the user guidance control, based on information from IR markers. The ultrasonic system informs the user of the PMV's position estimated by characterizing ultrasound waves. The MSS server system was also developed to control the route information and the block area.