A-6 慣性センサ情報に基づくランニング動作における遊脚の動力学的分析(センサ情報の活用)

抄録

The purpose of this study was to investigate the availability of the inertial sensor during running motion through the dynamic contribution analysis of swing leg motion. During high speed swing motion in sports, motion dependent term is the great contributor to generating of the distal segment motion. Therefore, in order to develop a feedback system for immediate demonstration of motion generating mechanism, it would be efficient to use inertial sensor signals for implementation of dynamic contribution analysis. Inertial sensors were assumed to be attached on the thigh, shank and foot segments. Output signals of inertial sensors were estimated from the experimental data of running motion collected with a motion capture system (VICON-MX, 13-cameras, 250Hz). The swing leg was modeled as a linked system of three segments. Three types of analysis models and constraint conditions were proposed to investigate the effects of modeling on motion generating mechanisms. These models are model-1) three-dimensional model with hip connected to measred hip potision, model-2) two-dimensional sagittal plane model with hip connected to measured hip position, and model-3) two-dimensional sagittal plane model with hip connected to fixed point. The results indicate that 1) analysis of simple model (model-3) using inertial sensor outputs have the ability to evaluate he dynamic characteristics of the motion generating mechanisms, such as contributions of motion-dependent term and total joint torque term, and 2) accurate analyses on contributions of individual joint torques need time-curves of hip joint acceleration data.