550 Vol. 32 No. 6, pp , Saddle Type Human Body Motion Interface for Personal Mobility Vehicle Sho Yokota 1, Hiroshi Hashimoto 2, D

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1 550 Vol. 32 No. 6, pp , Saddle Type Human Body Motion Interface for Personal Mobility Vehicle Sho Yokota 1, Hiroshi Hashimoto 2, Daisuke Chugo 3 and Kuniaki Kawabata 4 This paper proposes the human body motion interface for personal mobility vehicle including the user s twisting motion. First, saddle is attached on the personal mobility vehicle using the seat post which has the universal joints at the attachment portion. The universal joints have three rotational joints where the potentio meters are attached on each. By hip motion, the joints are moved. The potentio meters detect these rotations. Next, we introduced the sigmoid function to connect the motion of hip and the velocity of the personal mobility vehicle. Finally, the experiment was conducted to confirm the usability. In the experiment, the control interface was prepared which doesn t use the twisting motion of the hip. The subjects drive the personal mobility vehicle on the figure 8 course layout by using proposed interface and control interface. The lap times were measured in both interface and compared. After driving the vehicle, the paired preference test was conducted. The lap time using proposed interface was shorter than the control interface, and the paired preference test showed the proposed interface is intuitive. Key Words: Intuitive, Psychometric Function, Twisting motion, Universal Joint 1. PMV Personal Mobility Vehicle PMV Segway [1] Winglet [2] U3-X [3] [4] [5] [6] PMV [7] Faculty of Science and Engineering, Toyo University 2 Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology 3 School of Science and Engineering, Kwansei Gakuin Uniersity 4 Global Research Cluster, RIKEN [8] PMV Fig. 1 x, y 1 Fig. 1 θ PMV PMV JRSJ Vol. 32 No July, 2014

2 551 Fig. 1 The concept of the proposed human body motion interface for PMV Fig. 2 Table 1 The coordinate system of the PMV Specifications of the personal mobility Width 70 [mm] Wheel Radius 19 [mm] Weight capacity 80 [kg] Actuator DC brush motor (90 [W] 2) Power source Ni-MH battery (24 [V] 6.7 [Ah]) 2. PMV 2 Fig. 2 Fig. 2 W [m] R[m] PMV PMV v ref [m/s] ω ref [rad/s] ω r, ω l [rad/s] 1 2 v ref = R(ω l + ω r) 2 ω ref = R(ωr ω l) 2W 1 2 v ref, ω ref ω r, ω l ω r = v ref + ω ref W R ω l = v ref ω ref W R 3 4 v ref ω ref PMV Table 1 Fig. 3 PC OKA- D-102N v ref ω ref PID Fig. 3 System configuration of the mobile platform 3. PMV PMV PMV PMV [9] x y PMV 2 PMV 2 x, y 1 θ PMV

6 x y θ x[rad] y[rad] θ[rad] PC PMV v ref [m/s] ω ref [rad/s] PMV x[rad] y[rad] θ[rad] v ref [m/s] ω ref [rad/s] 3.

3 552 Fig. 5 Joint configuration at the root of the saddle Fig. 4 Saddle type Human Boddy Motion Interface KINECT KINECT Fig. 4 PMV PMV 3 Fig. 5 x, y ±π/4 [rad] θ ±π/2 [rad] PMV 3. 1 x y θ Fig. 5 AD PMV PC Fig. 6 System configuration of the PMV with suddle type human body motionn interface PMV Fig. 6 x y θ x[rad] y[rad] θ[rad] PC PMV v ref [m/s] ω ref [rad/s] PMV x[rad] y[rad] θ[rad] v ref [m/s] ω ref [rad/s] 3. 2 PMV e x e y e θ e x x x 0 e y = y y 0 θ θ 0 e θ 5 x 0 [rad] y 0 [rad] θ 0 [rad] PMV PMV v ref ω ref v ref = f 1 (e x ) ω ref = f 2(e y) + f 3(e θ ) 6 7 PMV v ref e x f 1 ω ref JRSJ Vol. 32 No July, 2014

4 553 e y f 2 e θ f 3 PMV PMV PMV f 1 f 2 f 3 f 1 f 2 f 3 PMV e x = 0 e y = 0 e θ = 0 PMV Fig. 7 x Fig. 7 E f E f e x Fig. 7 The transition of the joint angle in case of leaning forward and returning Fig. 8 The average of the offset in each body motion E f E b E l E r E tl E tr f b l r tl tr E f E b E l E r E tl E tr e x e x e y e y e θ e θ Fig. 8 Fig. 8 Back Psychometric Function S [10] [11] Psychometric Function 6 7 f 1 f 2 f 3 v ref

5 554 ( ) af = 1 Kf e x d f ln v ref 1, if e x 0 ( ) a b = 1 e x +d b ln Kb v ref 1, if e x < 0 12 a f = a b = f 1 (e x ) = e 44.97(e x ), if e x , if e 1+e 46.97( ex ) x < 0 13 Fig. 9 The conceptual relationship between v ref and e x f 1(e x) = 1 Kf 1+e a f (e x d f ), if e x 0 1 K b, 1+e a b ( ex d b ) if e x < 0 8 e K f K b a f a b d f d b Fig. 9 e x v ref e x v ref e x v ref e x v ref Fig. 9 E b E f E f E b E l E r E tl E tr Fig. 8 E b = 15[%] E f = 7.5[%] E l = E r = E tr = E tl = 10[%] % v ref K f K b a f a b d f d b e x E b e x E f 0 v ref 0 0 v ref [m/s] K f = 0.3 [m/s] K b = 0.15 [m/s] e x e xmax = π/12 [rad] e xmin = π/12 [rad] d f d B 1/2 d f = π/24 d B = π/24 [rad] 9 10 E f = 0.075e xmax E b = 0.15e xmin a f a b 8 a f a b ω ref f 2 f 3 f 2 f Kl f 2(e y) 1+e = a l (e y d l ), if e y 0 1 K r 1+e a r ( ey dr ), if e y < Ktl, if e 1+e f 3 (e θ ) = a tl (e θ d tl ) θ 0 1 K tr, if e 1+e a tr ( e θ d tr ) θ < 0 15 K a d r l tr tl K l = K r = K tl = K tl = 0.4 [rad/s] e y e ymax = π/12 [rad] e ymin = π/12 [rad] e θ e θmax = π/6 [rad] e θmin = π/6 [rad] 11 E l = 0.1e ymax E r = 0.1e ymin E tl = 0.1e θmax E tr = 0.1e θmax ω ref 0 f [rad/s] f [rad/s] f 1 a l a r a tl a tr e f 2 (e y ) = 41.73(e y ), if e y e 41.73( e y ), if e y < , if e 1+e f 3 (e θ ) = 20.86(e θ ) θ 0 0.4, if e 1+e 20.86( e θ ) θ < JRSJ Vol. 32 No July, 2014

6 555 θ[rad] θ PMV 7 ω ref = 2f 2(e y) 18 PMV ω PMV v Fig. 10 [12] 2 ISO 5495 [13] Fig. 10 The course layout of the experiment Fig. 11 Lap time with / without twist motion Fig. 11 Fig t p = < 0.05 Fig. 11 Table

556 Table 2 The number of answers Proposed interface is intuitive Result of interview The number of answers Control interface is intuitive 11 1 Fig.

7 556 Table 2 The number of answers Proposed interface is intuitive Result of interview The number of answers Control interface is intuitive 11 1 Fig. 14 The running trajectries by the interface including twist motion Fig. 12 The environment of the supplemental experiment Fig. 13 The course layout of the supplemental experiment Fig. 15 The running trajectries by the interface not including twist motion p = < PMV Fig. 10 PMV Fig. 12 Fig [m] 4 PMV Fig. 14 Fig. 15 x 10 [m] Fig. 14 Fig. 15 Fig. 16 The average of standard error of regression line Fig PMV PMV PMV PMV JRSJ Vol. 32 No July, 2014

557 2 PMV [ 1 ] Segway, http://www.segway.com/, last accessed on Sep. 9th 2013. [ 2 ] TOYOTA Winglet, http://www.toyota.co.jp/jpn/tech/personal mobility/winglet.html, last accessed on Sep. 9th 2013. [ 3 ] HONDA UNI-CAB, http://www.

Shino: Wheeled Inverted-Pendulum- Type Personal Mobility Robot with Collaborative Control of Seat Slider and Leg Wheels, Proc.

Hirayama: Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle, Theoretical and Applied Mechanics Letters, vol.3, issue 1, DOI:10.1063/2.1301309, 2013.

She: Electric Wheelchair Controlled by Human Body Motion Classification of Body Motion and Improvement of Control Method, Journal of Robotics and Mechatronics, vol.22 no.4, pp.439 446, 2010. [ 8 ] S.

8 557 2 PMV [ 1 ] Segway, last accessed on Sep. 9th [ 2 ] TOYOTA Winglet, mobility/winglet.html, last accessed on Sep. 9th [ 3 ] HONDA UNI-CAB, last accessed on Sep. 9th [ 4 ] N. Tomokuni and M. Shino: Wheeled Inverted-Pendulum- Type Personal Mobility Robot with Collaborative Control of Seat Slider and Leg Wheels, Proc. of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp , [ 5 ] C. Nakagawa, K. Nakano, Y. Suda and Y. Hirayama: Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle, Theoretical and Applied Mechanics Letters, vol.3, issue 1, DOI: / , [ 6 ] 2 12 pp , [ 7 ] S. Yokota, H. Hashimoto, Y. Ohyama and J. She: Electric Wheelchair Controlled by Human Body Motion Classification of Body Motion and Improvement of Control Method, Journal of Robotics and Mechatronics, vol.22 no.4, pp , [ 8 ] S. Yokota, H. Hashimoto, D. Chugo and K. Kawabata: Anthropomorphic Motion Design on Non-Holonomic Vehicle for Intuitive Interface, International Journal of Advanced Robotic Systems, vol.9, DOI: /53785, [ 9 ] vol.24, no.4, pp , [10] S.S. Stevens: Psychphsics: Introduction to Its Perceptual, Neural, and Social Prospects. John Wiley and Sons, [11] T. Amemiya, H. Ando and T. Maeda: Virtual Force Display: Direction Guidance using Asymmetric Acceleration via Periodic Translation Motion, Proc. of the First Joint Eurohaptics Conference and Symposium on Haptic Interface for Virtual Environment and Teleoperator Systems, [12] Jakob Nielsen [13] Sho Yokota Ph.D. IEEE Hiroshi Hashimoto / e-learning IEEE Daisuke Chugo IEEE Kuniaki Kawabata XJTU XJTU FA 2013 IEEE

Fig. 1 Schematic construction of a PWS vehicle Fig. 2 Main power circuit of an inverter system for two motors drive

Fig. 1 Schematic construction of a PWS vehicle Fig. 2 Main power circuit of an inverter system for two motors drive An Application of Multiple Induction Motor Control with a Single Inverter to an Unmanned Vehicle Propulsion Akira KUMAMOTO* and Yoshihisa HIRANE* This paper is concerned with a new scheme of independent