On the characteristics of the self balancing function of Human body

Abstract

This paper deals with the dynamic characteristics of Human body, that is, Human response in following step or sinusoidal input added to his body. We did the personality test as follows; (1) Transform the testee on the floor. (2) Shake the testee right-and-left or back-and-before. (3) Vibrate the testee up-and-down. (4) Decline the testee with bicycling style. And we measured the pursuit tracking at the near point of gravity of his body or another point. The aim of the tests is to put to use the reaults for no-man control of bicycling with robot. From these experiments, it was found that;(1) Balancing response of Human body is approximated to next formulas, that is, second order transfer function.(i) G(s)=B/s2+As+B(ii) G(s)=B/B/s2+As+B·e-TS(iii) G(s)=B/B/s2+As+B·(1-TS)(2) When the input freqwncy is lower than about 1.6c/s, the body tracks neary exactly with it, but higher than about 2.4c/s, the phase lag is exceeding.(3) Amplitude gain increases with input freqency for up-and-down vibration tests, but for right-and-left or back-and-before tests it degreeses with frequency, examply, about 10 to-40 dB.