抄録
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.
