A-34 Sequential trajectory planning on a dynamics model for human whole-body movement

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  • A-34 ヒト全身動力学モデルにおける逐次軌道計画(筋骨格系モデリング)

Abstract

On machine manufacturing, not only the technological advance but also the coupling behavior between a machine and a human body are demanded in recent years. It is therefore necessary to think about machines and human beings as one system. In such a background, numerical simulation methods, called digital human, are often used for a design and an evaluation and are researched in recent years. The digital human is an effective simulation method reproducing physical behaviors. The purpose of this study is to construct a dynamics model for human whole-body movement having the simplicity which could apply to multi-degrees-of-freedom model. Then, as an example of the model, the seated human model was studied which reproduces physical behavior of human being getting on a vehicle. Moreover, by proposing sequential trajectory planning, the seated human model was improved in a model which could deal with disturbances. When the seated human received a disturbances, the simulation s' trajectory was planed again. And the human body dynamics model had 20 rigid links with 43 degrees of freedom in the whole body.

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