松葉杖をもつモデルの歩行の研究

概要

論文の詳細を見る
The walking model on crutches, which is applied to the case where one leg can not be used, has been proposed and analyzed following the previous analysis on bipedal walking models. This model consists of upper body; one femoral region and lower leg; two crutches instead of arms. Each of these links has its own mass and is jointed with torsional springs at the shoulder, waist, knee and ankle. Therefore, this walking motion is the two-dimensional dynamic one with multi-degrees of freedom. One complete walking cycle was devided into seven motion periods. In calculation, crutches work as an obstacle to the normal walking because of their length and rigidity. Hence, initial angular velocities of every links were necessarily given at each motion period in order to get the continuous movement from one period to the other. Calculated gait was, however, quite similar to the walking of man on crutches. αforce diagram obtained on this model became a polygon but will be improved to be roundish if the continuous velocity change across the boundary of motion periods is achieved.
長崎大学工学部,Faculty of Engineering, Nagasaki Universityの論文