J102041 順動力学的シミュレーションによる足部の生体力学的解析([J10204]ライフサポート(4))

概要

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The purpose of this study is to develop the simulation model that can reproduce the walk considering a detailed musculo-skeletal system of the feet. The model has a three-dimensional entire-body structure of both the neuronal system and the musculo-skeletal system. The dynamics of the human body was represented by a 26-ligid-link system and muscular models. The foot model was a 6-ligid-link system, including the tarocular, subtalar, talonavicular, calcaneocuboid, and matatarsophalangeal joints. The neuronal system was represented by two sub-systems: the rhythm generator system consisting of neural oscillators, and the sensory feedback system. Unknown neuronal parameters were adjusted by a numerical search method using the evaluative criterion for locomotion that was defined by a hybrid between the locomotive energy efficiency and the magnitude of the ground reaction force. In the numerical simulation of 100,000 iterations to the parameters of the neuronal system using a genetic algorithm, walking 10 steps is successfully generated. However, it is not appeared the hyperextension of the metatarsophalangeal joint in the generated gait. It suggests that the structure of the model is necessary to be modified.
一般社団法人日本機械学会の論文
2011-09-11