| Presentation | 2019-12-06 Mathematical Model for Generating Human Foot-Lifting Movements onto One-Up Stair-Step from Stair Rise Toshikazu Matsui, Shu Kitabatake, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Foot lifting / Motion generation model / Step rise / Via-point information / Target information / Movement duration / Information prediction |
| Paper # | MBE2019-49,NC2019-40 |
| Date of Issue | 2019-11-29 (MBE, NC) |
| Conference Information | |
| Committee | NC / MBE |
|---|---|
| Conference Date | 2019/12/6(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Toyohashi Tech |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Hayaru Shouno(UEC) / Taishin Nomura(Osaka Univ.) |
| Vice Chair | Kazuyuki Samejima(Tamagawa Univ) / Takashi Watanabe(Tohoku Univ.) |
| Secretary | Kazuyuki Samejima(NAIST) / Takashi Watanabe(NTT) |
| Assistant | Takashi Shinozaki(NICT) / Ken Takiyama(TUAT) / Yasuyuki Suzuki(Osaka Univ.) / Akihiro Karashima(Tohoku Inst. of Tech.) |
| Paper Information | |
| Registration To | Technical Committee on Neurocomputing / Technical Committee on ME and Bio Cybernetics |
|---|---|
| Language | JPN |
| 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) |
| Date | 2019-12-06 |
| Paper # | MBE2019-49,NC2019-40 |
| Volume (vol) | vol.119 |
| Number (no) | MBE-327,NC-328 |
| Page | pp.pp.25-30(MBE), pp.25-30(NC), |
| #Pages | 6 |
| Date of Issue | 2019-11-29 (MBE, NC) |