上下運び動作中の動作高速化と安定性維持のための胴体と股の働きの検証

抄録

The human’s fast and accurate manipulation movement has important factors in the torso motion. We investigate the direction of using the torso on the manipulation in the human-living environment and analyze the relationship between the torso and the legs in the movement. In this research, during fast motion of raising and lowering an object, we hypothesize that they keep their body posture to prevent the disturbance of stability. By wearing a vest that could fix the torso in the subject, we reproduce the restrained state of the robot． We derive the joint angles of the torso and both hip joints using the joint positions obtained from the motion capture system. We measured the ZMPs of both feet using a 6-axis force and torque sensor installed on the sole of the shoes and evaluated the stability and compared the stability of moving the object quickly and slowly. From the evaluation of joint angles and ZMPs of both feet, when they moved the object faster, we found that they spread the crotch sideways and they keep the torso in the middle of the target positions.