抄録
Human locomotion control is atypical issue of multi-body system control that may be specific for periodic and stable motion patterns of locomotion. During rhythmic and steady motion as straight walking, many joints and muscles are organized into a collective unit that is controlled as though it had fewer degrees of freedom (DOFs), even though it still needs to retain the necessary flexibility for changing environments. In this study, we investigated the human locomotion by mode analyses using singular value decomposition. From motion-captured data of human locomotion, we extracted common basic movements and residual modes, and analyzed kinematical structures. The results show that there are basic movements whose proportion of variance is significant and those are common to all the test subjects. And the residual modes involve personal peculiarity or symptoms of motor dysfunction in locomotion. We can note that utilizing the results, it may be expected to identify the personal and run diagnostic check systems for applications.
