| Presentation | 2016-03-22 Influence of Knee-Joint Torque on Simulating Falling Accidents during Sit-to-Stand Movements Toshikazu Matsui, Kunio Dobashi, Nobuaki Nakazawa, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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 that the convergence and non-convergence of the optimization calculation correspond to the success and failure in reproducing sit-to-stand movements, respectively, and that the influence of ankle-joint torque on falling accidents can be predicted. This research clarifies theoretically, by using the optimal control model, how the knee-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 knee-joint torque. Consequently, the following results are obtained: (1) the knee-joint torque at the seat-off time has its effective range necessary for the model to rise successfully from a chair; (2) 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) |
| Keyword(in English) | Rising movements / Chair / Risk of falling / Optimal control model / Seat off time / Knee joint torque |
| Paper # | MBE2015-110 |
| Date of Issue | 2016-03-15 (MBE) |
| Conference Information | |
| Committee | MBE / NC |
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| Conference Date | 2016/3/22(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tamagawa University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Tetsuo Kobayashi(Kyoto Univ.) / Toshimichi Saito(Hosei Univ.) |
| Vice Chair | Yutaka Fukuoka(Kogakuin Univ.) / Shigeo Sato(Tohoku Univ.) |
| Secretary | Yutaka Fukuoka(akita noken) / Shigeo Sato(Kogakuin Univ.) |
| Assistant | Takenori Oida(Kyoto Univ.) / Ryota Horie(Shibaura Inst. of Tech.) / Hiroyuki Kanbara(Tokyo Inst. of Tech.) / Hisanao Akima(Tohoku Univ.) |
| Paper Information | |
| Registration To | Technical Committee on ME and Bio Cybernetics / Technical Committee on Neurocomputing |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Influence of Knee-Joint Torque on Simulating Falling Accidents during Sit-to-Stand Movements |
| 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) | Knee 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.) |
| Date | 2016-03-22 |
| Paper # | MBE2015-110 |
| Volume (vol) | vol.115 |
| Number (no) | MBE-513 |
| Page | pp.pp.39-44(MBE), |
| #Pages | 6 |
| Date of Issue | 2016-03-15 (MBE) |