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The purpose of this research is to develop a dynamic simulation model for FES patients. In dynamic analysis of human walk various inertia parameters must be known to derive the movement equation of the physical model. In this paper, we have proposed a measurement method which uses magnetic position sensor and forcer sensor to measure the body segment inertia parameters. Suitable movement is given to each joint of a person's leg, and the inertia parameters of the leg is identified from the relations between the input torque and the joint angle. We verified the effectiveness of this measuring method by a simulation of the lower limbs. The joint angle trajectories obtained by the model simulation using identified parameters were similar to those of the experimental result. This result is useful for developing a practical dynamic simulation model which can be easily applied in clinics, and it can also be used to automatically generate the stimulation data for a specific patient.
ライフサポート学会の論文