抄録
In order to realize stable walking by elderly people with supporting objects, we evaluated balance recovery capability by planar-shaped objects. Human arm and other body segments were modeled by a serial mechanism with seven dof and an inverted pendulum with a single dof. An evaluation index expressing capability of balance recovery by supporting object was proposed using these models. To formulate this index, manipulating-force ellipsoid of the serial mechanism and a friction cone (RFCS) at the contact point of the hand of human with the supporting object was integrated. Another index to express the degree of effective use of reaction force and frictional force was also presented. To obtain necessary parameter values to calculate the indices, experiments using motion capture system were conducted. An example of application of the proposed indices to determination of the height of supporting objects to help human to achieve stable walking with the help of supporting objects was shown.
