B10 ヒトの椅子への座り込み動作機構に対する最適制御モデルとその有効性の評価(動作制御)

概要

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We have formulated an optimal control model that reproduces human sitting movements on a chair. The model switches its dynamics at the moment (switching time) when its body sits on the chair, and optimizes its criterion function composed of three kinds of energy costs, a center-of-gravity cost, and an input cost. We clarify its fundamental performance in sitting on a chair and discuss factors indispensable for reproducing the same sitting movements on a chair as humans. Consequently, the following results were obtained : (1) experimentally measured sitting movements on the chair were successfully reproduced by appropriately adjusting the switching time ; (2) there existed the optimum switching time with respect to each sitting condition. These results suggest that the proposed model is effective as a model of the human sitting mechanism on a chair and that the switching time can be a factor involved strongly in human sitting movements on a chair..
一般社団法人日本機械学会の論文
2010-11-02