3701 矢状面内立位傾斜動作における足関節トルク制御則の時間変化(S55-1 生物医学工学における計測と制御(1),21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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The purpose of this study is to estimate the human postural control ability while standing. One-link inverted pendulum model is applied to the human body to estimate time variant parameters of PD control method. One subject is asked to stand still, incline forward as far and quickly as possible, and return to the original posture with subject's eyes-opened, eyes-closed, and one-legged to simulate unstable condition of standing posture. We measured sagittal ankle angle variation using motion capture system and then estimated PD gains as control parameters. The experimental results show that the estimated PD gains changes according to the standing condition. Parameter variations are comparatively large during eyes-opened condition, and the estimated differential gain variation when stop at the original posture becomes sluggish during eyes-closed condition and proportional gain for stop the sway at the maximum angle decreases during one-legged condition.
社団法人日本機械学会の論文
2008-08-02