Steering disturbance rejection using a physics-based neuromusculoskeletal driver model

摘要: The aim of this work is to develop a comprehensive yet practical driver model be used in studying driver–vehicle interactions. Drivers interact with their vehicle and the road through steering wheel. This interaction forms closed-loop coupled human–machine system, which influences driver's feel control performance. A hierarchical approach proposed here capture complexity neuromuscular dynamics central nervous system coordination upper extremity activities, especially presence external disturbance. motor framework has three layers: first (or path planning) plans desired trajectory required angles perform trajectory; second musculoskeletal controller) actuates arm rotate wheel accordingly; final layer ensures precision disturbance rejection units. phy...