人間の自然な角曲がり動作戦略の分類

―装着型ロボットに求められる矢状面外関節動作範囲の提案―

抄録

The curving motion in the daily living environment was not analyzed enough. However, such out-of-sagittal plane motion is required for a wearable assistant robot to be used in such complex environment. Thus, in this study, various natural turning motion of the human was recorded using corner paths with different radius and different stepping timing. As a result of cluster analysis using maximum and minimum pelvis and lumbar angle as the representative parameters of the whole turning motion, five turning strategies, which were also characterized by the range of motion of hip rotation angles, were identified. In addition, the range of motion of hip joint which is required for corner turning became clear.