軟剛ハイブリッドリンク系の動力学計算とスポーツ用義足を装着したアスリートの動作解析への応用
Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis
剛体リンクと柔軟体を統合したハイブリッドリンク系の動力学計算手法を提案し、スポーツ用義足を装着したアスリートの動作解析に応用した。逆動力学による床反力推定誤差は約12%で、筋力推定も可能にした。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Sunghee Kim, Yuta Shimane, Taiki Ishigaki, Ko Yamamoto
分類: cs.RO
原文アブストラクト
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the interaction force between the rigid human skeleton system and a flexible prosthesis. However, most of human musculoskeletal models are based on the computation framework of a rigid-body multi-link system. Recently in soft robotics research field, fast and efficient modeling methods were developed for a flexible rod deformation, which allows us to build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation. We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data, and also present the estimation of the joint torques and ground reaction force by inverse dynamics. Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation.
