F-0845 筋駆動多指ハンド・多関節体のモデリングとシミュレーション(J24-3 ヒトの運動)(J24 ヒトの運動機能(手腕系・下肢系,脊椎系,関節系など)/生物の運動機能(バイオミメティクス)とバイオロボット)

概要

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The musculoskeletal mechanism which is endowed with a living human and which is more complex than it of the machinery, and has an excellent generality and adaptability. The abovementioned mechanism which the living body has is modeled, and we must explain the its mechanistic parameter and movement performance, furthermore must account for the palameter of various manipulation. Though various research on the finger is made, there are not analysis by the equation of motion which contains muscle and tendon until recent years. So, we show the equation of motion which contained muscle and tendon by using the updated Lagrange method, and analyze a movement by this research.
一般社団法人日本機械学会の論文
2001-08-22