為因應石化能源儲存量日漸不足城市人口密集造成空間短缺停車不易，有別於其他電力驅動之個人載具，本研究所設計之輕量化個人載具，將減少車輛所需停車空間與減少車輛能源使用。
本研究車輛主要特色為具有短身長，左右兩側各有一相互同軸的車輪且人力踩踏機構與電力控制系統並存。此車行駛時可藉人力踩踏作為前進動力，而以電力為輔助車輛維持平衡姿態。雙輪車在騎乘時的踩踏力將擾動車體的平衡狀態，而車體不平衡現象則源於車體重心不落在車體的站立點(即為輪胎與地接觸的位置)上，平衡受破壞時，若無外力相抗衡則車體會翻覆，因此為了車體的平衡，需要加裝馬達配合感測器來對車體姿態做偵測、回饋與控制。
車體之重心配置及人體運動影響馬達控制所需之反應速度與反應所需之平衡力，因此為了選用恰當的馬達必須了解車子的騎乘時的重心動態表現，搭配車體各部位(主要包含底盤內的動力混和傳動系統與車體結構) 之重量做重心調配，使車體重心配置符合最適合之馬達其控制所需條件.
本研究規劃出一系統用以評估「自動平衡雙輪自行車」所適用的動力輸入裝置、動力混和裝置與有利於電動平衡之車體配置。

In this study, a double-wheel unicycle transportation is proposed. Because of the shortage of energy resource and parking space in city, the idea of this light-weight electrical aid personal unicycle can hopefully be used in future transportation system.
In this study, the unicycle has the features of small longitudinal length, with two coaxial wheels and pedaled by human with electric control system to balance the unicycle. It is known that when the rider rides the unicycle, the pedal force disturbs the balance of the vehicle. This unbalance force comes from the gravity center is not at the point of the ground contact points of the vehicle. To balance the unbalance force, servo-motors to drive the two wheels are used. The unbalance condition is detected by sensors.
To measure the variation of center of gravity to find the reacting time and force (torque), the devise of a center-of-mass (CoM) position metrology platform to detect the dynamic variation of CoM position is designed and is set up. The measurement results are used to help the control system design to find the corrected actuator.
In this study, would design a hybrid powered transmission mechanism to combine human power and electric power is designed. Planetary gear set is considerable to be the basic concept of transmission mechanism design.
The sequence of study processes would be helpful to design the layou¬t about chassis, bike frame, and wheels. The mechan¬ism design could link up the mechanical system with the motor and electro-control system.

[1] Segway, "Segway for Individuals," 2009.
[2] TOYOTA, "Toyota Develops Personal Transport Assistance Robot 'Winglet'," 2008.
[3] C.-H. Chiu, "Simulation of Positional Center of Gravity for Different Human Motions," Journal of Medical and Biological Engineering, vol. 25, pp. 123-128, 28 Jun 2005.
[4] M. Pijnappels, M. F. Bobbert, and J. H. van Die, "Contribution of the support limb in control of angular momentum after tripping," Journal of Biomechanics, vol. 37, pp. 1811-1818, 2004.
[5] D. C. v. d. H. A. D. F., "Motion of the body centre of gravity as a summary indicator of the mechanics of human pathological gait," Gait and Posture, vol. 12, pp. 243-250, December 2000 2000.
[6] C. T. Ray, M. Horvat, R. Croce, R. Christopher Mason, and S. L. Wolf, "The impact of vision loss on postural stability and balance strategies in individuals with profound vision loss," Gait & Posture, vol. 28, pp. 58-61, 2008.
[7] S. Pajala, P. Era, M. Koskenvuo, J. Kaprio, T. Tormakangas, and T. Rantanen, "Force Platform Balance Measures as Predictors of Indoor and Outdoor Falls in Community-Dwelling Women Aged 63-76 Years," J Gerontol A Biol Sci Med Sci, vol. 63, pp. 171-178, February 1, 2008 2008.
[8] E. M. Gutierrez-Farewik, A. Bartonek, and H. Saraste, "Comparison and evaluation of two common methods to measure center of mass displacement in three dimensions during gait," Human Movement Science, vol. 25, pp. 238-256, 2006.
[9] D. J. Pearsall and P. A. Costigan, "The effect of segment parameter error on gait analysis results," Gait & Posture, vol. 9, pp. 173-183, 1999.
[10] C.-K. Hsu, "Functional evalution of elliptical trainer with human motion analysis," in Department of Industrial Engineering and Management vol. Master: Chaoyang University of Technology, 2008.
[11] M. Roerdink, B. Coolen, B. E. Clairbois, C. J. C. Lamoth, and P. J. Beek, "Online gait event detection using a large force platform embedded in a treadmill," Journal of Biomechanics, vol. 41, pp. 2628-2632, 2008.
[12] S. X. LIN, "Human body centre-of gravity dynamic position measuring instrument and its measuring method ", 2006.
[13] Y.-H. Kwon, "Force-plate Issues," KWON3D, 1998.
[14] Y.-F. Huang, "A Study of Finding Best Relation Pedalling Force and Pedalling Speed while Riding a Bicycle," in PME. vol. Maser hisnchu: National Tsing Hwa University, 2000.