Study on Standard Human Motion Based on Phase Plane for Non-Holonomic Vehicle Interface

Since the structure and D.O.F. of human and machine are different, the motion of human and machine is essentially different. This study defines "Pseudo Human Motion" as approximated machine's motions referring to the standard human motion. If the pseudo human motion is realized, the operation of complex machine becomes easy, because the motion of complex machine becomes human-like motion. In order to realize pseudo human motion, we derive the standard human motion which is to be a model for the machine's motion. For this purpose, we measured the human motions of plural subjects by using motion capture system. The human motion is different in each subject about the motion time, therefore it is difficult to directly use measured human motion as a standard human motion. We adopts following solutions for this problem. The fundamental components of each subject are extracted from measured human motion data by using DFT(Discrete Fourier Transform). And the fundamental components are plotted on the phase plane. There are no big differences among the human motion of each subject on the phase plane. Thus we do ellipse fitting to the each subject motion on the phase plane, and we call it the standard human motion. This ellipse trajectory, which is standard human motion, can evaluate motions even if different motion in time domain, and can absorb different motion cycle and amplitude caused by individual physical characteristics and peculiarities.