A Rehabilitation Walker with a Standing Assistance Device

Non

Anthropomorphic “Motion Design” on Non-Holonomic Vehicle for Intuitive Interface

In the case of operating a vehicle, if the interface extracts human intention correctly and naturally, and if the vehicle moves like a human, then the human feels this operation to be intuitive. For realizing intuitive operation, this paper proposes motion design which makes vehicle motion anthropomorphic. The strategy of this motion design is: for making anthropomorphic motion, a certain normative motion for the vehicle is needed. Thus, we measure several subjects' motion in order to create normative motion. But these motions are different due to individual characteristics, because human motions are described in the time domain. Therefore, the human motion in the time domain is plotted to the phase plane. In the phase plane each subjects' motion was almost the same ellipse and then we fitted these ellipses to one ellipse by the least square method. Thus, we adopt this fitted ellipse as normative motion and call it “standard human motion”. The standard human motion is implemented on the actual non-holonomic vehicle and evaluated by the Semantic Differential (SD) method. From the results, we discovered that our motion design can create anthropomorphic vehicle motion