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This study investigated what handle operation and turning gain is comfortable for people using an inverted pendulum vehicle that is changeable the handle operation. Experimental conditions were three conditions. First is a slalom course with two cones placed at an interval of 1.8 m. Second is a slalom course with five cones placed at an interval of 1.4 m. Third is a slalom course with six cones placed at 1.8m, 1.4m, 1.8m, 1.4m, 1.8m, and 1.8m interval. The first condition considered the difference of handle operation between subjects who were used to ride and not used to ride. The second condition considered the difference of maneuverability due to gains. The third condition considered the difference of maneuverability between two handle operations in real running space in a condition of 10 gains. In a result of the first condition, a subject who was used to ride run effectively and running time is short compared with a subject who was used to ride. However, in handle yaw rotation, the difference of maneuverability was small. In a result of the second condition, running mileage about the same in two handle operation, but running time of handle yaw rotation is shorter than that of handle roll rotation. In a result of the third condition, like the second condition, running time of handle yaw rotation is shorter than that of handle roll rotation. In questionnaire evaluation, the best gain is the lower gain, 0.02. At last, An experiment was carried out by 14 subjects in the best gain, 0.02 that is best both handle operation. In the result of this experiment, 12 subjects answered that handle yaw rotation is better than handle roll rotation.

Maneuverability of an Inverted Pendulum Vehicle According to the Handle Operation Methods