ヒトの静止立位姿勢から定常歩行運動に至る遷移過程の運動シミュレーション(機械力学,計測,自動制御)

概要

論文の詳細を見る
Gait transition is a transient movement between upright posture and steady-state gait. The purpose of this study is to introduce a gait transition model in order to understand a fundamental principle of human gait transition movement. The proposed model consisted of biomechanical properties such as the musculoskeleton, proprioceptive organ, central pattern generator (CPG), α motor neuron and higher center. Gait transition motion was divided into three phases of standing, transition and steady-state gait. First, neuronal parameters in gait phase were searched by genetic algorithms. Then, neuronal parameters in standing phase were searched. Last, parameters which define the transient input from the higher center and parameters to connect standing phase to steadystate gait phase were also searched. The model successfully generated voluntary and comparatively smooth movement. It was found that transition input at gait initiation roughly decides subsequent gait generation.
社団法人日本機械学会の論文
2006-11-25