Motion design based on normative motion derived from human - Implementation to personal mobility

Abstract

This paper considers that the framework of intuitive interface of personal motility is the combination of the Intention Extractor and Motion Designer, which are the natural extraction of user intention and the human-like system's motion respectively. This research proposed the motion design which makes mobility's motion to be human-like by focusing on the Motion Designer in this framework. For designing human like motion, we need a certain normative motion to the personal mobility. In order to derive the normative motion, we collected the human motion when human moves to lateral direction. The collected motion data was mapped to the phase plane to eliminate time components. On the phase plane, each subject's motion was almost same ellipse, although they have differences in time domain. Then we did ellipse fitting to get one ellipse as the normative motion. For implementing the normative motion, which was fitted ellipse, to the personal motility, the derived normative motion was converted to time function by using t as a parameter. By this manner, personal mobility moved based on the normative motion. In order to verify whether the normative motion is human like or not, the sensory evaluation experiment by Paired Preference Test was conducted. In this experiment, two motions were prepared. One was derived normative motion, the another was “machine motion” which is controlled by the constant speed control inputs. From the result of the test, it turned out that the proposed normative motion is human-like compared with the constant speed motion.