機能別実効筋理論による跳躍メカニズムと下肢装具への応用(S01-2 身体機能のモデリングと福祉工学(2),S01 身体機能のモデリングと福祉工学)

概要

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Robots have one motor at each joint, but animals have bi-articular muscle driving two joints simultaneously. The bi-articular muscle characterizes animals and is predicted to have special functions. To clarity these functions, a simple human model was emploved. Gastrocnemius, the bi-articular muscle in the lower leg, was modeled simply by wire. The clarified bi-articular muscle functions will contribute to development of simple controlled robots. Computer simulations and model experiments were executed with the bi-articular muscle. The bi-articular muscle (1) controlled the direction of the ground reaction force, (2) stabilized jumping posture. These functions of the bi-articular muscle were applied to the leg orthosis.
2004-09-04