Characterization of Driver Neuromuscular Dynamics for Human-Automation Collaboration Design of Automated Vehicles

Lv, Chen
Wang, Huaji
Cao, Dongpu
Zhao, Yifan
Auger, Daniel J.
Sullman, Mark
Matthias, Rebecca
Skrypchuk, Lee
Mouzakitis, Alexandros
In order to design an advanced human-automation collaboration system for highly automated vehicles, research into the driver's neuromuscular dynamics is needed. In this paper, a dynamic model of drivers' neuromuscular interaction with a steering wheel is first established. The transfer function and the natural frequency of the systems are analyzed. In order to identify the key parameters of the driver-steering-wheel interacting system and investigate the system properties under different situations, experiments with driver-in-the-loop are carried out. For each test subject, two steering tasks, namely the passive and active steering tasks, are instructed to be completed. Furthermore, during the experiments, subjects manipulated the steering wheel with two distinct postures and three different hand positions. Based on the experimental results, key parameters of the transfer function model are identified by using the Gauss-Newton algorithm. Based on the estimated model with identified parameters, investigation of system properties is then carried out. The characteristics of the driver neuromuscular system are discussed and compared with respect to different steering tasks, hand positions, and driver postures. These experimental results with identified system properties provide a good foundation for the development of a haptic take-over control system for automated vehicles.


Control of Planar Spring-Mass Running Through Virtual Tuning of Radial Leg Damping
Secer, Gorkem; Saranlı, Uluç (Institute of Electrical and Electronics Engineers (IEEE), 2018-10-01)
Existing research on dynamically capable legged robots, particularly those based on spring-mass models, generally considers improving in isolation either the stability and control accuracy on the rough terrain, or the energetic efficiency in steady state. In this paper, we propose a new method to address both, based on the hierarchical embedding of a simple spring-loaded inverted pendulum (SLIP) template model with a tunable radial damping coefficient into a realistic leg structure with series-elastic actua...
Integration needs and consistency evaluation for requirement analysis in CIM development
Kayaligil, S; Hashemipour, M (Inderscience Publishers, 2001-01-01)
Computer integrated manufacturing (CIM) offers many unprecedented opportunities, but also unique challenges to undertake in getting the existing fully (or even partially) manual applications adapted. These difficulties in general multiply if the transition takes place in SME, especially on the overall company scale. Requirement analysis is the initiation task in such projects, and undoubtably the most critical in getting a useful conceptual model of what to expect at the very end.
Design and digital implementation of thyristor controlled reactor control
Genç, Murat; Ermiş, Muammer; Department of Electrical and Electronics Engineering (2007)
In this research work, the control system of 16 MVAr, 13.8 kV TCR will be designed and digitally implemented. A Real-Time Control System (NI CompactRIOTM Reconfigurable I/O) and a Digital Platform (NI LabVIEWTM Gcode) are used in the digital implementation of TCR control system. The digital control system is composed of reactive power calculation, firing angle determination and triggering pulse generation blocks. The performance of control system will be tested in the field. The simulation results will also...
Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template
Uyanik, Ismail; Morgul, Omer; Saranlı, Uluç (Institute of Electrical and Electronics Engineers (IEEE), 2015-02-01)
Widely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates accurate analytical approximations to their dynamics. Despite the availability of a number of such analytical predictors in the literature, their validation has mostly been done in simulation, and it is yet unclear how well they perform when applied to physical platforms. In this paper, we extend on one of the most recent approximations in the literature to ensure it...
Measurement of brushless dc motor characteristics and parameters and brushless dc motor design
Şahin, İlker; Ertan, Hulusi Bülent; Department of Electrical and Electronics Engineering (2010)
The permanent magnet motors have become essential parts of modern motor drives recently because need for high efficiency and accurate dynamic performance arose in the industry. Some of the advantages they possess over other types of electric motors include higher torque density, higher efficiency due to absence of losses caused by field excitation, almost unity power factor, and almost maintenance free construction. With increasing need for specialized PM motors for different purposes and areas, much effort...
Citation Formats
C. Lv et al., “Characterization of Driver Neuromuscular Dynamics for Human-Automation Collaboration Design of Automated Vehicles,” IEEE-ASME TRANSACTIONS ON MECHATRONICS, pp. 2558–2567, 2018, Accessed: 00, 2020. [Online]. Available: