Title Page
Executive Summary
Contents
Explanation of Terms and Abbreviations 8
1. Introduction 10
Background 10
Related Works 12
Developing a New Type of Micro-mobility 14
Research Aim and Scope 15
Thesis Structure 16
2. Preliminary Study 18
The AngGo 19
Conclusion of the preliminary study 20
3. Problems of the AngGo 22
Usability Test 23
Interaction Test 25
Focus Group Interview: AngGo Developers 28
Mechanical Review 30
Summary and Findings 32
4. AngGo-N 34
Design Features 34
Three types of operating mode 37
Mechanical Structure 47
Prototype Development Procedure 55
Supplements and Findings During Development 63
5. AngGo & AngGo-N 66
Main Research Questions 66
Expected Contribution 68
6. Discussion 70
A detailed discussion about answers of value opportunity analysis 70
Further Work and Limitation 73
7. Conclusion 75
References 76
Appendices 79
Executive Summary in Korean 80
Table 1. AngGo Specifications 19
Table 2. AngGo-N manual mode example equation 42
Table 3. Requirements of personal mobility 64
Figure 1. Future states of mobility 12
Figure 2. Experiment procedure 15
Figure 3. Research Aim and Scope 15
Figure 4. Model of AngGo platform 18
Figure 5. Setup of the obstacle evasion 22
Figure 6. Test layout 22
Figure 7. AngGo mobility useability test survey results 23
Figure 8. Rider posture when in use 24
Figure 9. Visual feedback using LED strips inserted right below the seat 25
Figure 10. Map of the test environment and the initial location of AngGo and subject 26
Figure 11. Test environment 26
Figure 12. Box plot for reaction time, bimodal (visual&auditory), o=outliers 27
Figure 13. Interview with AngGo Developers 28
Figure 14. The first and second prototype (left: second prototype, right: first prototype) 30
Figure 15. The speed induced in each wheel during rotation 31
Figure 16. Features and Characteristics of the lounge chair and SISM 34
Figure 17. Design Mood board of AngGo-N 35
Figure 18. Concept Modeling of AngGo-N 36
Figure 19. User Posture in use (User model height was 170cm) 36
Figure 20. ToF description of AngGo-N 37
Figure 21. AngGo-N mode scenarios 38
Figure 22. control method description 40
Figure 23. Distance sensor description 40
Figure 24. AngGo-N movement based upon the given equations 43
Figure 25. AngGo-N system diagram 44
Figure 26. User scenario of using AngGo-N in the indoor building 45
Figure 27. AngGo-N block diagram 45
Figure 28. Implementation of electric components of AngGo-N in real size of foams 46
Figure 29. Implementation of electric components of AngGo-N 46
Figure 30. AngGo-N first mechanical concept model 47
Figure 31. Force gauge measurement 49
Figure 32. Equation definition description 1 51
Figure 33. Equation definition description 2 51
Figure 34. Structural change by sitting, front view 52
Figure 35. Structural change by sitting, side view 52
Figure 36. Gear Information 53
Figure 37. AngGo-N Gear Information Detail 53
Figure 38. User test in real size model prototype 55
Figure 39. the initial stage of the frame 56
Figure 40. Reinforced wheel fork of AngGo-N 56
Figure 41. First form iteration process of AngGo-N 57
Figure 42. Exploded image of AngGo-N 58
Figure 43. Assembled image of AngGo-N 58
Figure 44. Fabricating process of Exterior plates 59
Figure 45. Parts assemble process 59
Figure 46. Seat Parts assemble process 60
Figure 47. A finished prototype of AngGo-N(Autonomous mode) 61
Figure 48. AngGo-N finished prototype (Standby and Journey Mode) 62
Figure 49. Value opportunity analysis meaning 67
Figure 50. value opportunity analysis for SISMs answer mean value and criteria 68
Figure 51. value opportunities score criteria mean scores 70
Figure 52. Re-align value opportunity analysis score of two platforms 70