1P1-W05 慣性センサを用いた動作計測に基づくアシスト器具の補助効果シミュレーション

• 宮島 沙織

  北海道大

• 田中 孝之

  北海道大

• 今村 由芽子

  北海道大

• 日下 聖

  北海道大

書誌事項

タイトル別名

• 1P1-W05 Simulation of Effect by Assist Device based on Motion Measurement Using Multiple Inertia Sensors

抄録

This research aims to estimate effect of assist device in real work field. First, Human motion is measured by 6-axis motion tracking devise that combines a 3-axis accelerometer and a 3-axis gyroscope placed on shank, thigh and back. Next, lumbar joint torque and assisting effect of Smart Suit Lite in the motion are estimated by interactive musculoskeletal simulation. Conventional method to estimate joint torque is using full body motion data measured by optical motion capturing system. But in this research, joint torque can be estimated by only 3 angles of links which is body, thigh and lower leg. Usability of proposal method is verified by the field experiment. As the result of the experiment, workload was evaluated and assistive effect of Smart Suit Lite was estimated by measured motion.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _1P1-W05_1-_1P1-W05_3, 2015

  一般社団法人 日本機械学会

キーワード

• Musculoskeletal model
• Assist device
• Motion Capturing
• Sensor fusion

詳細情報

• CRID: 1390282680916652032
• NII論文ID: 110010053308
• DOI: 10.1299/jsmermd.2015._1p1-w05_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__1P1-W05_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可