Inverted Pendulum-type Personal Mobility Considering Human Vibration Sensitivity

An inverted pendulum-type PM (personal mobility) has been attracting attention as a low-carbon vehicle. For many people who like to use the PM, ride comfort is important. However, ride comfort of PM has not been focused on in previous studies. The vibration is one of causes that make riders feel uncomfortable. The PM is unstable system and horizontal vibration may be caused by a stabilizing control. Additionally, vertical vibration may also be caused by road disturbances. This study analyzes the vibration of the rider's head in these two directions when the PM runs on a road with disturbances in numerical simulations, and evaluates ride comfort with the frequency characteristics of the vibration. To consider human vibration sensitivity, the frequency weighting proposed in ISO 2631-1 is used as an evaluation standard. The improvement methods are proposed from both software and hardware, and it is confirmed that the proposed method can improve ride comfort.