1A1-15 固有受容器を考慮した立位から定常歩行への遷移過程の計算機シミュレーション(講演,歩行計測)

抄録

Gait transition is a transient movement between upright posture and steady state gait. The purpose of this study is to introduce a gait transition model including a musculo skeletal model, neuronal model, proprioceptive model and higher center. Gait transition motion was divided into three phases of standing, transition, and walking. Neuronal parameters in each phase was decided by genetic algorithms. At first, the standing and walking parameters were searched, then, the transition parameters were also searched by specific objective function. The simulation result showed that the introduced proprioceptive model was important to keep upright posture, also, the impulse output from higher center was indispensable for a transition of motion.