冗長筋群を考慮した筋骨格モデルによる筋力推定

抄録

Working environments and products under considering the physical property of users are desired under an aging society with a declining birth-rate. Previously, computer human models which duplicate the properties and the functions of human have been developed. A musculoskeletal model which can evaluate muscle activities is one of computer human models. Conventional musculoskeletal model uses the energy minimum optimization to estimate muscle forces. However, the energy minimum optimization unfortunately usually cannot estimate the functions of antagonistic muscles which act in opposite direction to the prime motion or for restriction of rotational joint motion. Therefore, this study proposes a musculoskeletal model considering the functions of antagonistic muscles. In this proposed model, it is assumed that muscles connecting to the joint act as spring. Joint torque is represented by summation of the torques of the active muscles and the antagonistic muscles. Each muscle force can be estimated to keep balance among the torques generated by muscles. The experiment was conducted to validate the proposed method to estimate muscle forces. Surface electromyograms (sEMG) were measured to compare with the estimated muscle forces. The experimental results showed that the estimated muscle forces had a good agreement with the sEMG of muscles.