三次元運動解析システムと束縛動作への応用(2部運動解析・モデリング)

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Dynamic and kinematic analyses of human movements are among the most important problems in the field of biomechanics. Many of them require modeling the human body as a system of rigid links connected by several joints. Thus, the first step is to calculate the equations of motion for a spatial multi-linkage system with open and/or closed kinematic chains. However, they are very complex nonlinear equations and must be re-computed depending on the different linkage systems. Above difficulties have led to the development of computer aided dynamic analysis system for human motions. The purpose of this paper is to present a computer-aided motion analysis system with interactive graphic interfaces; the system consists of five subsystems as follows: 1) A recursive model to generate the equations of motion for open or closed chain mechanism. 2) Data pre-processing to filter the noise components and digital differentiate the motion data. 3) Human skeletal link models which are provided for naive users. 4) Control simulation to generate the joint torques which give different motions. 5) Graphic interaction for various graphs and stick pictures. The system is applicable to the analysis of a constrained or unconstrained three-dimensional kinematic chain mechanism, such as human motion analysis and the design and control of an artificial arm or leg. As an example, a crank rotation task constrained by an external object was analyzed using the system. It was found that human subject kept wrist joints stiff during rotation to reduce the joint redundancy and also put the hand force in the outer and tangential directions in order to increase the robustness of hand manipulation against the external disturbance.
バイオメカニズム学会の論文
1990-09-10

三次元運動解析システムと束縛動作への応用(2部運動解析・モデリング)

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三次元運動解析システムと束縛動作への応用(2部 運動解析・モデリング)

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三次元運動解析システムと束縛動作への応用(2部運動解析・モデリング)