ヒトの歩行における全身の関節協調動作の定量的評価

概要

論文の詳細を見る
Human keeps high correlation among his joint motions during locomotion, and this correlation is considered to take an important role on the control of the joints and muscles, which is characterized as a redundant system. The analysis of the correlation of the recorded joint movement extracts a few simultaneously activating segmental coordination patterns, and the structure of the intersegmental coordination is attracting attention expecting its relationship with control strategy. This research proposes a method to quantitatively evaluate the intersegmental coordination as a combination of the jacobian of a few characteristic points. By applying the proposed method to the motion of 7 joints, including both limbs and trunk, this research showed that the transition of COM and rotation of ankles can represent the whole body movement.
一般社団法人日本ロボット学会の論文