膝関節の基礎運動学のための教育用ロボットにおける起立・着座動作の再現

抄録

In our previous work, the educational knee robot (e-Knee-Robo) had been developed as an educational tool to help understanding of fundamental knee kinematics. The e-Knee Robo consists of a knee android model (Knee-AM) and a driving device, which can simulate the movement of human knee, including screw home movement (SHM). The purposes of this study are to reproduce standing up and sitting down movements in the e-Knee Robo, and to investigate the reproduction accuracy by comparing human knee movements. For this purpose, we developed a new e-Knee Robo 2 with standing up and sitting down movements. We investigated the 5-degrees freedom movement during the knee extension in the e-Knee Robo. As a result, we found that the movements of e-Knee Robo were similar to human knee movements.