Abstract
This research focuses on formulating a three-link (an upper body, two thighs, and two lower legs) and three-joint optimal control model that reproduces rising movements from a chair and considering optimization factors indispensable for realizing the same rising movements as humans. Consequently, it was clarified that the experimentally measured rising movements are reproduced by the optimal control model minimizing a new evaluation function in which the energy consumed by muscle viscosity and the displacement of the center of mass are incorporated into the modified minimum torque-change criterion. This result suggests that the three kinds of optimization factors can be strongly involved in realizing rising movements.
