B-24 受動的関節自由度を考慮した身体動作の順動力学的分析手法の定式化(バイオメカニクス)

概要

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The purpose of this study was to propose a simple method for forward dynamics analysis of human movement which is able to consider the constraint axes of joints without needs of tirne-consurning procedure for the derivation of dynamics equation of the system. The dynamic analysis method, which is based on the equation of motion of the system, has an ability to quantify the contribution of the joint torques, external force, motion-dependent term and gravity term to the generation of kinematic and kinetic variables, such as, speeds of target points, angular velocity of the segments, body eg velocity and angular momentum. The equation of motion with respect to the target system was obtained from 1) the equation of motion for each segment, 2) equations for constraint condition in which adjacent segments are connected by joint, and 3) equations for constraint axes of joints. The validity of the proposed method was clarified with a simulation about a swing motion of the upper extremity.
2009-12-02