B-25 身体動作の順動力学的分析における運動依存項の関節トルク項への帰着(バイオメカニクス)

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  • B-25 A converting algorithm of the motion dependent term into the joint torque term in forward dynamics analysis of human movement
  • 身体動作の順動力学的分析における運動依存項の関節トルク項への帰着
  • シンタイ ドウサ ノ ジュン ドウリキガクテキ ブンセキ ニ オケル ウンドウ イソンコウ ノ カンセツ トルクコウ エ ノ キチャク

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The purpose of this study was to propose a converting algorithm of the motion dependent term into joint torque terms, external joint force term, and gravity terra The motion dependent term make significant role for generating end-point speed of linked segment system, especially, in high-speed swing motion, such as, volleyball spike, baseball pitching and batting motions. The motion dependent term is mainly caused by linear and angular velocities of the segments, and these velocities are the results of joint torque and external joint force inputs into the system We convert the motion dependent term into other terms by using the equation of motion expressed in the discrete time system. A recurrent equation with respect to the generalized velocity vector of the system is derived to calculate the contribution of the joint torque terms, external joint force term, and gravity term to the motion dependent term. From the results obtained in this study shows that shoulder joint force play a significant large role in generation of racket head speed for skilled player in tennis serve motion.

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