431 椅子からの立ち上がり動作を再現するダイナミクス切換え型最適制御モデル

概要

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We have formulated a three-link (one upper body, two thighs, and two lower legs) and three-joint optimal control model that reproduces rising movements from a chair and considered optimization factors indispensable for realizing the same rising movements as humans. This model changes two kinds of dynamics at time tl (switching time): one dynamics operates while we are sitting on a chair, and another operates while we are rising from the chair. Consequently, it was clarified that the proposed model can reproduce characteristics for experimentally measured human rising movements by adjusting the model is switching time tl from one dynamics to another, the input weight (torque change), and the dynamics switching parameter in the evaluation function. This result suggests that the three kinds of optimization factors can be strongly involved in realizing rising movements.
2009-08-03