関節機能に制約のある二足歩行モデルの歩行特性と補償動作(2部運動の調節)

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Simulations of human walking have been actively performed in recent years. Most, of however, treat only normal walking. The abnormal walking is analyzed mainly by experiments due to dificulties associated with modeling abnormalities, but the simulation approach is expected to give much information about patients who have similar conditions. This paper presents a model which can simulate normal and abnormal walking. Our model has a Zero Moment Point, abbreviated as ZMP, at a joint of one leg out of the ankle, knee, and hip joints. The idea of the ZMP, in which the fact that moments about a point of application of floor reaction force are zero is utilized, is effective for the simulation of the human walking and expanded further in our model. The joint having a ZMP can transmit force to adjacent connected bodies but cannot generate the moment during the stance phase to control the motions of the bodies. The joint is called the Zero Moment Joint, abbreviated ZMJ. Based on the ZMJ, three modified models are also proposed: a Passive Element Joint (PEJ), which has a spring at the joint; a Partial Moment Joint (PMJ), which can produce a partial amount of the moment in about the joint in normal walking; and a Constrained Range Joint (CRJ), the angle of which stays within some constrained relative angle. Considering that many experimental results on normal walking have been obtained but of abnormal walking are very few, differences in characteristics between normal and abnormal walking simulated for the same walking conditions are evaluated and discussed as compensatory actions at the remaining sound joints. The actions became greater when the diseased joint is located in a higher position. The locus of the ZMP exceeded the supporting area when the ZMJ was at the knee or the hip. The walking pattern of the infants or the aged was effective to reduce the actions. Other joint models can also be used to reduce the actions. To use a cane on the opposite side to the abnormal leg was effective in making the posture of the upper torso to be upright. The simulation results suggested that what the clinical side do a patient having the lost function can walk in ways resembling the normal walking pattern with acceptable compensatory actions at the sound joints. Such an approach will be promising for the control of autonomous bipedal robots.
1994-08-10

関節機能に制約のある二足歩行モデルの歩行特性と補償動作(2部運動の調節)

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関節機能に制約のある二足歩行モデルの歩行特性と補償動作(2部 運動の調節)

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関節機能に制約のある二足歩行モデルの歩行特性と補償動作(2部運動の調節)