Mehrabi, NaserRazavian, Reza SharifMcPhee, John2018-06-202018-06-202015-06-17https://dx.doi.org/10.1080/00423114.2015.1050403http://hdl.handle.net/10012/13424This is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 2016-06-17, available online: https://dx.doi.org/10.1080/00423114.2015.1050403The aim of this work is to develop a comprehensive yet practical driver model to be used in studying driver–vehicle interactions. Drivers interact with their vehicle and the road through the steering wheel. This interaction forms a closed-loop coupled human–machine system, which influences the driver's steering feel and control performance. A hierarchical approach is proposed here to capture the complexity of the driver's neuromuscular dynamics and the central nervous system in the coordination of the driver's upper extremity activities, especially in the presence of external disturbance. The proposed motor control framework has three layers: the first (or the path planning) plans a desired vehicle trajectory and the required steering angles to perform the desired trajectory; the second (or the musculoskeletal controller) actuates the musculoskeletal arm to rotate the steering wheel accordingly; and the final layer ensures the precision control and disturbance rejection of the motor control units. The physics-based driver model presented here can also provide insights into vehicle control in relaxed and tensed driving conditions, which are simulated by adjusting the driver model parameters such as cognition delay and muscle co-contraction dynamics.endisturbance rejectionhuman driver modelintrinsic muscle propertiesmusculoskeletal arm modelstretch reflexArticle