B11 最適制御モデルを用いたヒトの椅子からの立上り動作特性の理論解析(動作制御)

概要

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We have formulated an optimal control model that reproduces human rising movements from a chair. The model switches its dynamics at the time (switching time) when its body moves away from 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 rising from a chair and discuss factors indispensable for reproducing the same rising movements from a chair as humans. Consequently, the following results were obtained : (1) experimentally measured rising movements from the chair were successfully reproduced by appropriately adjusting the switching time and the weight for the input cost ; (2) there existed the optimum input weight value with respect to each switching time. These results suggest that the proposed model is effective as a model of the human rising mechanism from a chair and that the switching time and input weight can be factors involved strongly in human rising movements from a chair.
一般社団法人日本機械学会の論文
2010-11-02