Consideration of Human Joint Moment on an Inverted Pendulum Vehicle

Abstract

The ultimate goal of this research is to safely apply automatic driving to Personal Mobility Vehicles (PMVs), which are personal transportation vehicles. One of the problems in applying automatic driving to an inverted pendulum vehicle is that the vehicle requires posture stabilization control at all times. It is important to understand the dynamic motion of the driver during automatic driving. In this paper, we experimentally investigate the driver’s joint moment during manual and automatic turning, and make an estimate formula of the driver’s joint moment. It was suggested that some joint moments are influenced by the elements of vehicle and exforce.