A-32 Parameter Identification of Human Model in Standing with Delay

Abstract

When a driver rides on a skateboard, to support the posture control is important for comfortable riding. To achieve it, a human body dynamics model is needed. In this study, we discuss mechanical modeling and identification of the posture control parameters during standing. We assume that the mechanical model is given by a simple rigid-body and posture control is determined by delayed feedback of the angle and the angular velocity of the rigid-body. To estimate the feedback gains and the delay time of the posture control, impulse response test and step response test were implemented. Center of mass (COM) and center of pressure (COP) were measured by motion capture and load measuring device in the tests. Since estimated parameters use to be a wide range of scatter in general, we focus on that characteristic root of COM and that of COP are common in the system. So, we propose a way to estimate the posture in control parameters in two processes. First, we calculated characteristic roots from COM and COP wave of an experiment by fitting using least-square-method. Second, we estimate the control parameters by comparing coefficient of two characteristic equations. As a result, we solved the problem of the parameters scatter in analysis of the impulse response test.