614 関節角変位入力による蹴上がり動作の動的シミュレーション

概要

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Simulation of coordinated movements and computation of relative contribution of joint torques of human body are important factors to clarify the mechanism of human motion. The purpose of this study was to introduce an algorithm that uses PID controller to realize joint angular displacement inputs in dynamics simulation based on equation of motion of the system. The whole body was modeled as a three-segment rigid body consisting of the upper limbs, head and trunk, and the lower limbs. The desired angular displacement inputs of shoulder and hip joints were transformed into joint torque inputs of those joints through a PID controller with respect to the joint angular displacements. A dynamic analysis based on the equation of the system was carried out to clarify the functional role of joint torques, gravity and motion-dependent terms. The result obtained in this analysis for kip maneuver shows that shoulder joint torque is the largest contributor to the generation of horizontal and vertical components of body eg velocity.
一般社団法人日本機械学会の論文
2011-09-05