A2 多体系の運動方程式に基づく跳躍動作の動力学的分析 : 身体重心鉛直速度に対する下肢関節トルクの貢献度(動作解析1)

概要

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The purpose of this study was to quantify the contribution of the joint torques of human whole body to the vertical velocity of the center of gravity (c.g.) of body during jumping motion. The human body was modeled as a system of fifteen rigid segments connected with a simple ball joint. The foot was considered to be connected with the center of pressure (C.P.) on the ground by a virtual joint. The equation of motion with respect to whole body was obtained from the equation of motion for each segment and equations for constraint condition in which adjacent segments are connected by joint. The contribution of the joint torques to the vertical velocity of body's c.g. was derived from the dynamic equation of body. The contribution consisted of three parts, such as ; total joint torque term ; motion dependent term ; and gravitational term. The total joint torque term was, furthermore, divided into each joint axial torque term. A subject performed a jumping motion with single support leg in the support phase. The motion was captured with VICON motion system, and the ground reaction forces were measured with two force platforms. From the results, the order of the contribution to vertical velocity of body's c.g. makes the transition from proximal to distal joint of the support leg in the support phase of the jumping motion.
社団法人日本機械学会の論文
2006-11-08