B-10 歩行中における腰部加速度からのステップ長の推定(歩行・跳躍)

概要

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The purpose of this study was to verify the validity of the inverted pendulum model in one step and to propose new models which could accommodate to the several walking speeds. Twelve subjects walked about 10m path at three kinds of walking speeds. Lower trunk acceleration and 3D marker data were recorded. True value of the step length was recorded from 3D marker data and predicted value was calculated by inverted pendulum model whose variable was displacement of the COM. Displacement of the COM was calculated by double integration of the lower trunk acceleration. We proposed the new model which changed the correction factor (K_m) in each step with using regression equation. We evaluated the validity of the model by RMS. From the result of this study, the validity of the new model was higher than previous models at all speeds in each step. So it was suggested that new method was better estimator of the step length than previous models.
一般社団法人日本機械学会の論文
2009-12-02