​Abstract: To facilitate the integration of people with disabilities into sports domains using simulators, particularly in the field of skiing, this article proposes a solution to the Motion Cueing Algorithm (MCA) parameter optimization problem under some human-platform interactions and environment constraints, distinguished here as a multi-objective problem. The considered simulator is redundant with respect to skier’s motions and to generate high-fidelity movements, the Linear-Quadratic Regulator (LQR) method is employed to minimize the human perceptual error between the real and simulated skier environments. Both the vestibular model and the redundant simulator constraints are considered in MCA parameter optimization. Linear time-invariant representations are detailed and the appropriate optimal control parameters are solved. The implemented skier scenarios demonstrate the improvement in human sensation and the efficiency of the proposed redundancy resolution method.

Keywords: Optimal control, Human sensation, Hybrid robot, Motion cueing algorithm, Redundancy resolution.

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