重心フィードバック搭載型重心動揺計の力学解析に関する研究

抄録

This paper proposes the evaluation method for the stabilometer center of gravity feedback system using the inertial sensors and the wearable force plates. This method estimates the PD control parameters and offset value using the ankle joint angle and the ankle joint torque. The ankle joint torque is calculated by inverse dynamics using ground reaction force, moment, inertial sensor output and the joint angle estimated by using the sensor fusion. We conducted the measurement experiment using the stabilometer, the inertial sensors and the wearable force plates, and we estimated the PD feedback control parameter and offset parameter in the experiment. The results indicated the change of parameters before and after use of the stabilometer. The method can be used to evaluation the effect by using the stabilometer.