全身系解析のための逆動力学解析方法に関する研究

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  • Simple Formulation for Inverse Dynamics Satisfying Kinetic Consistency

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<p>Although Newton-Euler method is representative one of inverse dynamics because of its convenience, inconvenient features which is called overdetermined problem have been reported. It is remarkable in the comparison of trunk torque by bottom-up approach and top-down approach. In order to resolve this problem, several methods have been proposed, and most of these methods were used by optimization of motion trajectory satisfying equations of motion. Recently biomechanical studies have been varied so that studies with a lot of force sensor have been increased. In such a situation, it is necessary to understand each force’s contribution on noted joint torque or muscle force. In this paper we propose a simple analytical formula on inverse dynamics. The methodology has two features. First feature is satisfying the overdetermined problem with low calculation cost. Second feature is perspective formula which indicates the direct relationships between each joint and each reaction force.</p>

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