体幹モデルを用いた人体動作の制御パラメータ推定

抄録

Recently, increasing numbers of very small-sized vehicles like a personal mobility have been developed. As the mass of such small-sized vehicle is often comparable to that of their drivers, the coupling behavior between them is increasing in comparison with traditional vehicle types. Therefore, when developing small-sized vehicles, it is necessary to give ample consideration to the dynamics of the human body riding inside them. In this research, a model of a human body inside a small-sized personal vehicle is proposed. However, whole body model has multiple degrees of freedom and property. Furthermore, the influence of parameters of human is uncertainty and it is difficult to set accurate parameters. Accordingly, the dynamics of only trunk of the human body on a vehicle has been studied. And numerical simulations were used to investigate conditions that exist when lateral acceleration is applied. Then the parameters of numerical simulation are identified by Genetic Algorithm (GA). Consequently, Findings of human motion gained by identification result.