人間の上体立ち上げ動作における最適化モデル

抄録

The purpose of this research is to consider an optimization model that can reproduce the trajectory of human motion to return to upright position. In this motion, there is a tendency that the brake is applied so as not to fall behind toward the end of the operation and the speed change becomes small. This tendency is not applicable to the bell type trajectory which is commonly seen in human motion. In order to reproduce this tendency, the validity of the model was evaluated by carrying out a simulation based on the torque change minimum model and comparing it with the actual motion.