2303 開ループ機構によるサッカーのキック動作の実験解析(機械設計と機構,一般講演)

概要

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It is important to make clear the human motion in the field of robotics and welfare engineering. Especially, the kick motion in the football is generated by the high joint torque, so it is difficult to design and manufacture of the experimental device in the actual size of human legs. The mechanism of generating power in muscles is similar to the one of coiled springs. So we introduce the kinematic model using the elastic elements as power sources. The improving the effective manner of the generating motion with the multiple joints is the general problem in the mechanisms, so it is expected that the analytical method of the mechanism can be applied to this problem. In this research, we designed the experimental device with the planar open four bar links to measure the angular displacement at the joints, and we investigated the effective form of kick motion.
2008-04-20