体幹抑制時の立ち上がり動作の不安定モード解析

抄録

Recently, the fatal accident of elderly people has increasing in Japan. A wearable assist machine for elderly people is studied as one of countermeasure. But, the size of assist machine grows big and the weight of it gets heavy if its degree of freedom increases so as to prevent obstructing the movement of human. The purpose in this study is to extract the major modes of sit-to-stand movement with restraint of human trunk for design small and lightweight assist machine by fixing degree of freedom on the optimal position. Measurement of sit-to-stand movement was used motion capture system. The major modes were extracted by the mode analysis. As the result of analysis, the coxa and knee flexural extension, adduction and abduction ware identified as major modes of human sit-to-stand movement. These motions were the movement to lift a body and opening and shutting movement of the leg with standing-up.