728 水泳用大腿義足の開発 : シミュレーションによる構造の検討(J02-3 生物の機能/運動/機構/模倣(3),ジョイントセッション,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 final goal of this study was to develop an above-knee prosthesis for swimming. As the first step for this goal, its structure was examined by simulation in this paper. The swimming human simulation model SWUM, which has been developed by the authors, was employed for the simulation. First, the phases of joint angle and torque at the knee and ankle were investigated with respect to a non-amputee swimmer. By this investigation, it was found that the phases of joint angle and torque are almost opposite both for the knee and ankle. This result suggests that the knee and ankle joint actuators can be replaced by rotational springs in the case of above-knee amputee. Therefore, a simulation in which the knee and ankle joint actuators of one-side limb are rotational springs was conducted. The resultant swimming motion was found to become sufficiently close to that of the non-amputee swimmer.
社団法人日本機械学会の論文
2008-08-02