筋活動度，筋力，ならびに外力に応答する人の手先コンプライアンス楕円体の特性比較

抄録

In this paper, endpoint compliance ellipsoids based on muscle force and muscle activity are calculated by using a musculoskeletal model. Muscle force and muscle activity during maintenance of posture are estimated by an optimization calculation based on the musculoskeletal and muscular contraction models. The calculated endpoint compliance with a given posture is shown by an ellipsoid. The difference between the muscle force- and the muscle activity-based endpoint compliance ellipsoids are discussed. Furthermore, passive endpoint compliance ellipsoid is also calculated. This ellipsoid also shows similar spatial characteristics.