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This research proposes a novel method that evaluates joint reaction forces by motion analysis using a musculoskeletal model. While general muscle tension estimations minimize the sum of the muscle tensions, the proposed method utilizes the joint reaction forces themselves in the objective function of the optimization problem in addition to conventional method. This method can estimate a pattern of...
This paper presents a framework of simulation-based design for robotic care devices developed to reduce the burden of caregiver and care receivers. First, physical interaction between the user and device is quantitatively estimated by using a digital human simulator. Then we introduce a method for optimizing the design parameters according to given evaluation criteria. An example of trajectory optimization...
A passive power-assist supporter, called Smart Suit Lite, aims at reducing the lumbar load utilizing the tension of elastic belts. Its design method is based on a digital human model and motion measurements. This paper presents basic experiments using humanoid robot HRP-4 for verifying the design model of the suit. In the experiment, the joint torques of the robot and the elastic force of Smart Suit...
In this study, we propose an estimation model of lumbar load, which is a factor in lumbar disorders. Our proposed method uses a musculoskeletal model with elastic elements between the vertebral bodies, and simulates the inter- vertebral disk pressure and the displacement of the vertebral bodies simultaneously.
We estimate lumbar torque based on motion measurement using only three inertial sensors. First, human motion is measured by a 6-axis motion tracking device that combines a 3-axis accelerometer and a 3-axis gyroscope placed on the shank, thigh, and back. Next, the lumbar joint torque during the motion is estimated by kinematic musculoskeletal simulation. The conventional method for estimating joint...
We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite is a compact and lightweight power assist device that utilizes the elastic force of elastic belts, and its purpose is reduction of lumbar load. We have proposed the design method of Smart Suit Lite based on a digital human model and motion measurements. This paper presents the basic experiment using humanoid...
This paper presents the application of a humanoid robot as an evaluator of assistive devices; we propose a framework of the evaluation by utilizing identification of the mechanical properties of a humanoid robot. The accurate estimation of joint torque with the identification can enhance the performance to estimate the supporting effect of the devices. We evaluate a passive assistive wear "Smart...
We are developing a passive power-assist supporter called Smart Suit Lite, which is a compact and lightweight power-assist device that utilizes the restoring force of elastic belts. Smart Suit Lite is designed not only to support muscles but also to stabilize the torso similarly to a corset. However, because a corset is always tight around the waist, negative effects caused by long-term use has been...
Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA (fatigue-reduction) Technology which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. Along the way, various assistant technologies for work and task supports have been suggested. However, they are used for evaluation of short-term...
We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite is a compact and lightweight power assist device that utilizes the elastic force of elastic belts. To design the Smart Suit Lite, we developed a motion-based assist method and an extended musculoskeletal model. The motion-based assist method was used to design the arrangements and properties of the elastic belts...
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