| Presentation | 2007-03-15 Selection of leg swing trajectorys based on metabolic cost Akihiro FUJII, Hiromichi SUENAGA, Yoshiaki TANIAI, Jun NISHII, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | When we walk, there are infinite number of possible trajectories for leg swing. How does the brain design the trajectory? We computed the optimal trajectory which minimizes the energy cost during swing and enables smooth toe off and grounding. The obtained trajectory exhibits the following characteristics. (1) In the beginning of swing the foot is thrown backward and raised up. (2) In the latter half of swing the foot is thrown forward and the speed takes its maximum value. (3) In the end of swing the foot is raised a little and then retracted for grounding. These characteristics are well coincident with those observed in human leg swing. These results suggest that the leg swing trajectory be planned so as to minimize the energy cost. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | swing phase / walking / optimality / energy cost |
| Paper # | NC2006-154 |
| Date of Issue |
| Conference Information | |
| Committee | NC |
|---|---|
| Conference Date | 2007/3/8(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Neurocomputing (NC) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Selection of leg swing trajectorys based on metabolic cost |
| Sub Title (in English) | |
| Keyword(1) | swing phase |
| Keyword(2) | walking |
| Keyword(3) | optimality |
| Keyword(4) | energy cost |
| 1st Author's Name | Akihiro FUJII |
| 1st Author's Affiliation | Faculty of Science, Yamaguchi University() |
| 2nd Author's Name | Hiromichi SUENAGA |
| 2nd Author's Affiliation | Faculty of Science, Yamaguchi University |
| 3rd Author's Name | Yoshiaki TANIAI |
| 3rd Author's Affiliation | Yamaguchi Graduate School of Science and Engineering |
| 4th Author's Name | Jun NISHII |
| 4th Author's Affiliation | Yamaguchi Graduate School of Science and Engineering |
| Date | 2007-03-15 |
| Paper # | NC2006-154 |
| Volume (vol) | vol.106 |
| Number (no) | 589 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |