Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This research builds an ENV-BODY impedance model that represents a kinematic and dynamic interaction between human body and environment. This model quantitatively computes a smoothness and stiffness of human movement using an impedance between human body and environment based on a concept of mechanical impedance that is often used in the robot control. The ENV-BODY impedance model consists of a mass, spring, and damper, and represents a relationship between a behavior of center of pressure (COP) and a ground reaction force (GRF). These mass, spring, and damper parameters are identified from the experimental human motion data during static standing. In addition to a real-time feedback of COP fluctuation that attenuates or amplifies the COP displacement, different-hardness silicon blocks on a floor are applied to intervene to the ENV-BODY impedance. The experimental results show that our ENV-BODY impedance model estimates the COP acceleration from the GRF during static standing with average error of 4.3E-01 mm/s2. The stiffness parameter becomes smaller at attenuating COP fluctuation and larger at amplifying COP fluctuation or at standing on the soft silicon block, which are consistent with the intuitive mechanical stability. This model would applied to a diagnosis using a real-time motion measurement and environment control technology, and a training method to smooth a stiff movement using a material design between human body and environment.
