歩行可能なヒト下肢筋骨格シミュレータの開発

抄録

The musculoskeletal morphology of a human being should have a rational structure for the function of bipedal walking. If we recognize the human walking function, then we can reconstruct it by artificial materials with robotic technology. In this study, the muscles in the lower extremities, including the biarticular structure, were replaced by the simple springs-cable element, and three posterior muscles were actuated by electrical motors as a robotic system. The musculoskeletal walking simulator successfully reproduced human-like walking trajectory from the viewpoint of joint angles.