2脚モデルの歩行

概要

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A human walking has been seldom analyzed mechanically in spite of the fact that it identified the human from other animals and moreover that analysis would have given several hints in making artificial legs. Exact analysis, however, may not seem possible because the gait is a unified phenomenon contributed by a number of bones and muscles, etc. and is indeed ap sychological matter. In this paper, proposing simply the 'bipedal model' which consists of rigid links jointed by pins together with torsional springs, the complete walking cycle analogous to human gait composed of two distinct phases; stance and swing, has been analyzed. The particular interest was focused on the step force: The heel striking and toeing-off forces estimated using the typical values of a human body have given the quite consistent α diagram with the real one, which was measured on the new force plate. The proposed model, hence, satisfactori1y represents human gait.
長崎大学工学部の論文