B16 多体系の運動方程式に基づく跳躍動作の順動力学的分析 : 身体角運動量に対する関節トルクの貢献(跳躍)

概要

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The purpose of this study was to quantify mainly contributions of whole body joint axial torques to the angular momentum of body during support phase of jump motion. The contributions of joint axial torques were derived from dynamic equation of the whole body. Four male subjects participated in the experiment, and the results showed the roles of joint axial torques as follows: The extension torques of knee joint of the support leg converted the horizontal velocity of the center of gravity (CG) into the vertical velocity of it in the middle of the support phase, and the plantar torque of ankle joint contributed to the increase of the vertical velocity of the CG in the latter half of the support phase. The extension torque of hip joint contributed to the decrease of the forward rotational angular momentum about the support foot and to control the posture of the trunk. The both arm angular momentum about the vertical axis through the CG canceled out the angular momentum generated by swing leg and contributed to prevent over rotation of the body during the support phase. The angular momentum of both arms was caused not only by each joint axial torque of arms but also by the motion dependent component such as the joint torques of the leg or the trunk, and the Colioris force and so on.
社団法人日本機械学会の論文
2007-11-13