Dynamic balance ability based on subjective movement sensation model

2018 Fiscal Year Final Research Report

• Project/Area Number: 16K00357
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: Toyo University
• Principal Investigator: Yokota Sho 東洋大学, 理工学部, 准教授 (40434386)
• Project Period (FY): 2016-04-01 – 2019-03-31
• Keywords: 感覚行動システム / 主観的移動感覚

Outline of Final Research Achievements

The purpose of this research is to develop the measuring method for three sensations being visual, somatic and vestibular sensation under the condition of passive locomotive movement such as riding a personal mobility, and to consider the dynamic balance ability. The subjective height sensation based on visual sensation can be expressed by polynomial model. In addition, subjective movement sensation based on visual, somatic and vestibular sensation can be also expressed by 3rd polynomial model. The human motion in case of seating type personal mobility can be modeled as 2nd order lag system. It turned out that there are correlation between static balance ability and dynamic balance ability on a standing ride type personal mobility.

Free Research Field

知能ロボティクス

Academic Significance and Societal Importance of the Research Achievements

これまでのバランス能力は，移動運動を伴わない静的な環境下で考察されていたため，その適用範囲は限定的であった．本研究の学術的意義は，感覚量を定量表現する方法を提案し，人工物による他動運動という条件のもとでの主観的な移動感覚モデルを実験的に導いたこと，立乗り型のパーソナルモビリティにおける動的バランス能力と静的バランス能力に相関があることを見出したこと，着座型のパーソナルモビリティ乗車時の身体動作モデルが2次遅れ系でモデル化できることを明らかにした点にある．これらの知見をベースにして，移動機器使用時の安全走行等に役立てることが期待される．