The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 2P1-C06
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2P1-C06 Evaluation of Impedance Adjustment Function of Human Lower Limb Using Pedaling Exercise : Second Report : Evaluation for an Endpoint Trajectory Prediction during Pedaling Exercises(Sense, Motion and Measurement (3))
Takahiro WatanabeMasashi KonyoSatoshi Tadokoro
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Abstract
Humans perform movements with adjusting their body impedance to environmental impedance. A Lack of such adjustment ability decreases human performance for optimal movement control to adapt changing environments and contact events. The purpose of this study is to develop an evaluation method for human impedance adjustment ability on lower limbs. In this paper, as the second report, we proposed an estimation method of impedance parameter, especially on stiffness, during pedaling exercise. An experiment system for measuring the impedance was developed. We evaluated the changes in endpoint trajectories during the pedaling exercise under a discontinuous velocity-dependent force field in order to predict an actual trajectory correctly.
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© 2012 The Japan Society of Mechanical Engineers
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