B5 全身の運動方程式に基づくスポーツ動作の順動力学的分析 : 関節軸自由度を考慮した運動方程式の導出(運動のダイナミクス)

概要

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The purpose of this study was to propose a forward dynamical analysis method for sports motion considering degree of freedom in each joint based on the equation of motion of the whole body. The human body was modeled as a system consisting of 15 rigid segments connected with joints, and the system was divided into two kinds of units. The one is the unit which consist of two segments whose joint have less than three degree of freedom, and the other is the unit which have only one segment. We use the former kind of unit to model adjacent segments such as upper / fore arm segments and thigh / shank segments, because these joints have passive joint axis. On the other hand, we use the latter kind of unit to model segments connected to other segments with 3 DOF joint. By simultaneous solving equations of motion of the units and constraint equations of acceleration at connecting points of the units, we obtain the equation of motion of the whole body. By using this equation of motion, we calculated contributions of joint torques, motion- dependent torque, and gravity to speed of throwing object.
社団法人日本機械学会の論文
2007-11-13