体幹前傾角度等をパラメータとした人の立ち上がり動作のシミュレータの構築とその評価

抄録

In this study, we developed a polynomial function that generates time series data of joint angles of the legs, knees, and waist of a person, taking into consideration the gravity position, as forward trunk inclination as a parameter. Based on this function, a simulator that displays the sit-to-stand motion of a human skeleton is constructed so that the behavior can be changed using forward trunk inclination as a parameter. We report that based on this simulator, we evaluated the impression of people and robots received from the start-up motion based on the questionnaire.