Development of a control system for supporting to grow human skill of a unicycle

The riding operation of a unicycle attract attention, because it improves the balance sense and trains the coordinate ability to move the body dexterously according to a situation. This study regards a unicycle as the subject of research, and analyzes the process of achievement of the balance sense and the coordinate ability for riding the unicycle. Thus, we derive a motion equation of a system which considered a force and a torque to the system by the operator using the projection method. We develop a dynamic unicycle simulator, using the equation of motion, which prepare an environment for analysis, training, teaching, and assist of the unicycle operation.