Documentation 2
posted 1 year, 11 months ago by Alex JV

In this strategy the motor voltages were set to a very low value. This was necessary because if higher values were used, whenever the CG along X crosses the positive or negative threshold the device would accelerate/decelerate so hard that the user would be thrown off balance. If the motor voltage was kept low, the acceleration/deceleration was not noticeable. This strategy was tested with a rider and it was observed that the rider instantaneously felt the device to be intuitive, since the rider could now control the device but leaning forward/backward.