EMGに基づく筋負荷を考慮した最適な立ち上がり動作軌道の生成

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/10/01

タイトル(英語): Optimization of the Motion Trajectory for Standing from a Seated Position by Considering Muscular Load Based on Electromyography

著者名: 櫛田　大輔（鳥取大学大学院 工学研究科），朝倉　夕貴（鳥取大学大学院 工学研究科），北村　章（鳥取大学大学院 工学研究科）

著者名(英語): Daisuke Kushida (Graduate School of Engineering, Tottori University), Yuki Asakura (Graduate School of Engineering, Tottori University), Akira Kitamura (Graduate School of Engineering, Tottori University)

キーワード: 筋活動電位，動作軌道，最適化，遺伝的アルゴリズム，福祉分野　　Electromyography，Motion trajectory，Optimization，Genetic Algorithm，Welfare field

要約(英語): Standing from a chair is an important task of daily living for physically handicapped people. In a rehabilitation center, a health care professional is planning motion based on the experience and knowledge so that a patient may stand up with few loads. Therefore, there is a problem that the plan is different occasionally as each health care professional. In this paper, a generation method of motion trajectory to stand from a seated position with few loads by using Genetic Algorithm (GA) was proposed. The human body was expressed as three-rigid-link model. In the model, the ankle, the knee, and the waist were set to the joint. Moreover, Electromyography (EMG) generated from the muscle to drive each joint was measured, and the model between each joint torque and EMG was constructed with the ARX model. The motion trajectory to stand from the seated position was generated by using GA with the evaluation function based on the constructed ARX model. The generated motion trajectory was evaluated by the experimental work with eight healthy subjects. As a result, the effect of the proposed method was objectively verified by subject's EMG. In addition, subjective effect of the proposed method was verified by analysis of variance about subject's impression.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.10 （2011） 特集：再生可能エネルギーの出力変動対応技術

本誌掲載ページ: 1745-1751 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/10/131_10_1745/_article/-char/ja/