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Paper Abstract and Keywords
Presentation 2019-03-06 13:00
Mathematical Model for Simulating Human Foot-Lifting Movements onto One-Up Stair-Step
Akihiko Ueki, Shu Kitabatake, Toshikazu Matsui (Gunma Univ.) NC2018-78
Abstract (in Japanese) (See Japanese page) 
(in English) This research formulates an optimal control model for reproducing human foot-lifting movements onto one-up stair-step as a preliminary step toward developing a mathematical model of the human stair-climbing mechanism. The model predicts the optimal trajectory by minimizing its criterion function under constrained conditions derived from analyzing measured foot-lifting movements. Consequently, the following results are obtained: (1) the hip-, knee-, and ankle-joint angle profiles hold the minimum, maximum, and minimum points, respectively, (2) the value and the time of each extremum can be predicted by the specified stair rise; (3) the proposed model in which the above extremum information is introduced as constrained conditions can successfully reproduce measured foot-lifting trajectories. These results suggest that the extremum information of joint angle profiles characterizes foot-lifting movements, and that the proposed model can be an effective model of the human foot-lifting mechanism.
Keyword (in Japanese) (See Japanese page) 
(in English) Stair climbing / Foot-lifting / Extremum information of joint angle / Stair rise / Three joint model / Via point / /  
Reference Info. IEICE Tech. Rep., vol. 118, no. 470, NC2018-78, pp. 187-192, March 2019.
Paper # NC2018-78 
Date of Issue 2019-02-25 (NC) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
Copyright
and
reproduction
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)
Download PDF NC2018-78

Conference Information
Committee NC MBE  
Conference Date 2019-03-04 - 2019-03-06 
Place (in Japanese) (See Japanese page) 
Place (in English) University of Electro Communications 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2019-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Mathematical Model for Simulating Human Foot-Lifting Movements onto One-Up Stair-Step 
Sub Title (in English)  
Keyword(1) Stair climbing  
Keyword(2) Foot-lifting  
Keyword(3) Extremum information of joint angle  
Keyword(4) Stair rise  
Keyword(5) Three joint model  
Keyword(6) Via point  
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Keyword(8)  
1st Author's Name Akihiko Ueki  
1st Author's Affiliation Gunma University (Gunma Univ.)
2nd Author's Name Shu Kitabatake  
2nd Author's Affiliation Gunma University (Gunma Univ.)
3rd Author's Name Toshikazu Matsui  
3rd Author's Affiliation Gunma University (Gunma Univ.)
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Speaker
Date Time 2019-03-06 13:00:00 
Presentation Time 25 
Registration for NC 
Paper # IEICE-NC2018-78 
Volume (vol) IEICE-118 
Number (no) no.470 
Page pp.187-192 
#Pages IEICE-6 
Date of Issue IEICE-NC-2019-02-25 


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