機械的インピーダンス可変装置を用いた高速運動トレーニングシステムの開発 : 粘性負荷への最適付加慣性の実現(機械力学,計測,自動制御)

抄録

We propose a new training system for high speed motions basing on a variable mechanical impedance display device. In the proposed training system, a relatively small inertia is added to viscous load in order to increase load torque without decreasing maximum speed. Moreover, in order to increase energy consumption, the additional inertia becomes zero during motions. Consequently, the additional inertia is optimized to increase load torque and energy consumption and to keep maximum speed. In this paper, the proposed training system is applied for elbow flexion, and the effectiveness of the proposed system is verified by comparison among these experimental results.