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Paper Abstract and Keywords
Presentation 2019-12-06 11:25
Mathematical Model for Generating Human Foot-Lifting Movements onto One-Up Stair-Step from Stair Rise
Toshikazu Matsui, Shu Kitabatake (Gunma Univ) MBE2019-49 NC2019-40
Abstract (in Japanese) (See Japanese page) 
(in English) This research formulates a mathematical model generating foot-lifting movements from only the step rise without any information of measured movements. Actually, this research constructs a framework to predict information required for generating the movements according to analysis of the movements, and incorporates the predicted information into the previous model as constrained conditions. Consequently, the following results are obtained: (1) the via-point information (extrema of the three joint angles) and the target information (ankle-joint coordinates) required for the motion generation can be predicted accurately from the step rise; (2) the via-point time and the movement duration required for the motion generation can be predicted from the step rise with a slightly lower accuracy; (3) the proposed model can generate foot-lifting movements from only the step rise under the constrained conditions of the predicted information. These results suggest that the proposed model is effective in simulating human foot-lifting movements, and that it can be a more effective and plausible model of the human foot-lifting mechanism.
Keyword (in Japanese) (See Japanese page) 
(in English) Foot lifting / Motion generation model / Step rise / Via-point information / Target information / Movement duration / Information prediction /  
Reference Info. IEICE Tech. Rep., vol. 119, no. 328, NC2019-40, pp. 25-30, Dec. 2019.
Paper # NC2019-40 
Date of Issue 2019-11-29 (MBE, NC) 
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)
Download PDF MBE2019-49 NC2019-40

Conference Information
Committee NC MBE  
Conference Date 2019-12-06 - 2019-12-06 
Place (in Japanese) (See Japanese page) 
Place (in English) Toyohashi Tech 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2019-12-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Mathematical Model for Generating Human Foot-Lifting Movements onto One-Up Stair-Step from Stair Rise 
Sub Title (in English)  
Keyword(1) Foot lifting  
Keyword(2) Motion generation model  
Keyword(3) Step rise  
Keyword(4) Via-point information  
Keyword(5) Target information  
Keyword(6) Movement duration  
Keyword(7) Information prediction  
1st Author's Name Toshikazu Matsui  
1st Author's Affiliation Gunma University (Gunma Univ)
2nd Author's Name Shu Kitabatake  
2nd Author's Affiliation Gunma University (Gunma Univ)
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Date Time 2019-12-06 11:25:00 
Presentation Time 25 
Registration for NC 
Paper # IEICE-MBE2019-49,IEICE-NC2019-40 
Volume (vol) IEICE-119 
Number (no) no.327(MBE), no.328(NC) 
Page pp.25-30 
#Pages IEICE-6 
Date of Issue IEICE-MBE-2019-11-29,IEICE-NC-2019-11-29 

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