手腕系の動力学シミュレーションと実験による物性同定

概要

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This paper presents a two-dimensional dynamic analysis and experiments on the human hand-arm system with various configurations under strong and weak gripped conditions, subjected to sinusoidal acceleration. The direct integration method is adopted, and joint spring and damping parameters have been determined by partial optimization technique with a least squares approach, in which the discrepancy between the theoretical and the observed is iteratively corrected in a multistep manner so that at first the gap for wrist responses is minimized, then followed by the gap for the elbow, and finally the gap for the shoulder. Finally, a more simplified model for the hand-arm system with reduced joint parameters is proposed and its adequacy is verified through simulation. It is shown that the spring and damper of each joint do not depend on their shape configuration, and that phase, response and joint parameter are strongly influenced by the grip condition.
一般社団法人日本機械学会の論文
1992-06-25