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Paper Abstract and Keywords
Presentation 2015-12-19 13:25
Theoretical Reproduction of Falling Accidents during Sit-to-Stand Movements Using Optimal Control Model
Toshikazu Matsui, Kunio Dobashi, Nobuaki Nakazawa (Gunma Univ.) MBE2015-70
Abstract (in Japanese) (See Japanese page) 
(in English) We have already formulated a dynamics-switching three-link and three-joint optimal control model that reproduces human sit-to-stand movements, and clarified its effectiveness. This study clarifies theoretically, by using the optimal control model, how the ankle-joint torque at the seat-off time affects the subsequent rising movement, and it examines the possibility to predict the risk of falling caused by miscalculation of the ankle-joint torque. Consequently, the following results are obtained: (1) the convergence and non-convergence of the model’s optimized calculation correspond to the success and failure in reproducing sit-to-stand movements, respectively, and the risk of falling can be predicted based on the failed reproduction results; (2) the ankle-joint torque at the seat-off time has its effective range necessary for the model to rise successfully from a chair; (3) a shortage of the ankle-joint torque makes the model pratfall, and an overage of the same torque makes the model fall forward to its knees. These results suggest that the optimal control model is effective in simulating falling movements as well.
Keyword (in Japanese) (See Japanese page) 
(in English) Rising movements / Chair / Risk of falling / Optimal control model / Seat off time / Ankle joint torque / /  
Reference Info. IEICE Tech. Rep., vol. 115, no. 383, MBE2015-70, pp. 43-48, Dec. 2015.
Paper # MBE2015-70 
Date of Issue 2015-12-12 (MBE) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee MBE NC  
Conference Date 2015-12-19 - 2015-12-19 
Place (in Japanese) (See Japanese page) 
Place (in English) Nagoya Institute of Technology 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2015-12-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Theoretical Reproduction of Falling Accidents during Sit-to-Stand Movements Using Optimal Control Model 
Sub Title (in English)  
Keyword(1) Rising movements  
Keyword(2) Chair  
Keyword(3) Risk of falling  
Keyword(4) Optimal control model  
Keyword(5) Seat off time  
Keyword(6) Ankle joint torque  
1st Author's Name Toshikazu Matsui  
1st Author's Affiliation Gunma University (Gunma Univ.)
2nd Author's Name Kunio Dobashi  
2nd Author's Affiliation Gunma University (Gunma Univ.)
3rd Author's Name Nobuaki Nakazawa  
3rd Author's Affiliation Gunma University (Gunma Univ.)
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Date Time 2015-12-19 13:25:00 
Presentation Time 25 
Registration for MBE 
Paper # IEICE-MBE2015-70 
Volume (vol) IEICE-115 
Number (no) no.383 
Page pp.43-48 
#Pages IEICE-6 
Date of Issue IEICE-MBE-2015-12-12 

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