Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 13, 2020 - September 16, 2020
The objective of this study was to investigate the relationship between biomechanical parameters and manipulability by simulating a forward liner operation of a competition wheelchair using an inverse dynamics analysis. The motion was represented by inputting the joint angle of shoulder, elbow, and wrist obtained by an optical motion capture system into the musculoskeletal model. The simulation model was represented by restraining the contact area between the body model and the frame and seat of the wheelchair. A hand manipulability was defined as the angle between tangential direction of the wheelchair axle and the major axis of manipulating force ellipsoid which was available for evaluating a robot arm and was calculated from the posture of the upper limb. To investigate the relationship between the physical load and the posture of upper limb, joint stiffness was calculated as the ratio of joint moment to joint angle. As a result, the hand force was expected to depend on the relationship between joint stiffness and hand manipulability. Joint stiffness has a possibility of evaluating the wheelchair operability with a view to increase the performance of the wheelchair operation.
