Frontal Plane Modelling of Human Dynamics during Standing in Narrow-Stance

Abstract

Standing ride type vehicles like electric skateboards have been developed in recent years. Although these vehicles have advantages as being compact and low cost due to their simple structure, it is necessary to improve the riding quality. Therefore, the system aiding riders to keep their balance on a skateboard by feedback control or feedforward control has been required. To achieve it, a human balance model should be built as simple as possible. In this study, we focus on the human balance modelling during standing when the support surface moves largely. We restricted the model on frontal plane and narrow stance because the restrictions allow us to assume single-degree-of-freedom model. The balance control system is generally assumed as a delayed feedback control system. The model was identified through impulse response test and frequency response test. As a result, we found the phase between acceleration of the skateboard and posture angle become opposite phase in low frequency range.