抄録
In many sports, it is necessary to exert external forces for generating joint torques which accelerate body. Since there is a strong relation between performance and joint torque generation, inverse dynamics problem (IDP) has been used for joint torque estimation. If external forces are dominant in dynamic equations, dynamic terms can be neglected, which leads to force equilibrium. These equations of force equilibrium express geometric mapping between external force and joint torque with Jacobian matrix in statics. The authors examined validity of the equations as a tool for joint torque estimation in comparison to IDP in landing motion experiment. The results showed estimated ankle and knee torque was comparable to that of IDP. The authors theorized and established the benefit to apply equations of force equilibrium for dynamic motion analysis.
