| Paper Abstract and Keywords |
| Presentation |
2007-03-15 09:50
Selection of leg swing trajectorys based on metabolic cost
Akihiro Fujii, Hiromichi Suenaga, Yoshiaki Taniai, Jun Nishii (Yamgaguchi Univ) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
When we walk, there are infinite number of possible trajectories for leg swing. How does the brain design the trajectory? We computed the optimal trajectory which minimizes the energy cost during swing and enables smooth toe off and grounding. The obtained trajectory exhibits the following characteristics. (1) In the beginning of swing the foot is thrown backward and raised up.(2) In the latter half of swing the foot is thrown forward and the speed takes its maximum value.(3) In the end of swing the foot is raised a little and then retracted for grounding. These characteristics are well coincident with those observed in human leg swing. These results suggest that the leg swing trajectory be planned so as to minimize the energy cost. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
swing phase / walking / optimality / energy cost / / / / |
| Reference Info. |
IEICE Tech. Rep., vol. 106, no. 589, NC2006-154, pp. 7-12, March 2007. |
| Paper # |
NC2006-154 |
| Date of Issue |
2007-03-08 (NC) |
| ISSN |
Print edition: ISSN 0913-5685 |
| Download PDF |
|
| Conference Information |
| Committee |
NC |
| Conference Date |
2007-03-14 - 2007-03-16 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Tamagawa University |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
General |
| Paper Information |
| Registration To |
NC |
| Conference Code |
2007-03-NC |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Selection of leg swing trajectorys based on metabolic cost |
| Sub Title (in English) |
|
| Keyword(1) |
swing phase |
| Keyword(2) |
walking |
| Keyword(3) |
optimality |
| Keyword(4) |
energy cost |
| Keyword(5) |
|
| Keyword(6) |
|
| Keyword(7) |
|
| Keyword(8) |
|
| 1st Author's Name |
Akihiro Fujii |
| 1st Author's Affiliation |
Yamaguchi University (Yamgaguchi Univ) |
| 2nd Author's Name |
Hiromichi Suenaga |
| 2nd Author's Affiliation |
Yamaguchi University (Yamgaguchi Univ) |
| 3rd Author's Name |
Yoshiaki Taniai |
| 3rd Author's Affiliation |
Yamaguchi University (Yamgaguchi Univ) |
| 4th Author's Name |
Jun Nishii |
| 4th Author's Affiliation |
Yamaguchi University (Yamgaguchi Univ) |
| 5th Author's Name |
|
| 5th Author's Affiliation |
() |
| 6th Author's Name |
|
| 6th Author's Affiliation |
() |
| 7th Author's Name |
|
| 7th Author's Affiliation |
() |
| 8th Author's Name |
|
| 8th Author's Affiliation |
() |
| 9th Author's Name |
|
| 9th Author's Affiliation |
() |
| 10th Author's Name |
|
| 10th Author's Affiliation |
() |
| 11th Author's Name |
|
| 11th Author's Affiliation |
() |
| 12th Author's Name |
|
| 12th Author's Affiliation |
() |
| 13th Author's Name |
|
| 13th Author's Affiliation |
() |
| 14th Author's Name |
|
| 14th Author's Affiliation |
() |
| 15th Author's Name |
|
| 15th Author's Affiliation |
() |
| 16th Author's Name |
|
| 16th Author's Affiliation |
() |
| 17th Author's Name |
|
| 17th Author's Affiliation |
() |
| 18th Author's Name |
|
| 18th Author's Affiliation |
() |
| 19th Author's Name |
|
| 19th Author's Affiliation |
() |
| 20th Author's Name |
|
| 20th Author's Affiliation |
() |
| Speaker |
Author-1 |
| Date Time |
2007-03-15 09:50:00 |
| Presentation Time |
20 minutes |
| Registration for |
NC |
| Paper # |
NC2006-154 |
| Volume (vol) |
vol.106 |
| Number (no) |
no.589 |
| Page |
pp.7-12 |
| #Pages |
6 |
| Date of Issue |
2007-03-08 (NC) |