Posture Operating Method by Foot Posture Change and Characteristics of Foot Motion
Posture Operating Method by Foot Posture Change and Characteristics of Foot Motion
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足部姿势变化的姿势操作方法及足部运动特点
DOI：
10.1109/access.2019.2957861
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发表时间：
2019
期刊：
影响因子：
3.9
通讯作者：
Yasuda Ikko
中科院分区：
文献类型：
--
作者：
Komori Masaharu;Terakawa Tatsuro;Matsutani Kyota;Yasuda Ikko
人体的下肢实际上和上肢一样可以进行多自由度运动。这表明下肢被用于操作的多自由度的设备，如机器人手臂的可能性。考虑到这一点，本论文侧重于脚的运动，并检查其特性的情况下，在该对象的姿势被操纵的姿势变化的脚。首先，我们调查了如何以及操作员的脚移动根据操作员的意图，以澄清脚的运动特性实验通过测量脚的运动与运动捕捉系统的假设下，操作员操纵虚拟空间中的对象。结果表明，当倾斜角的变化伴随着旋转角的变化时，脚的预期运动与实际运动之间存在差异，这可能是由于跟距关节或Chopart关节的运动轴不平行于脚的坐标系所致。接下来，提出了一个考虑脚的运动特性的操作系统，并进行了实验，以验证其有效性。当使用所提出的转换公式来基于实际脚运动计算预期脚运动时，在将对象操纵到目标姿势时所需的时间和路径跟踪精度方面以及在主观可操作性方面，可操作性得到改善。
The lower limbs of the human body actually can perform the multiple-degree-of-freedom motion, just like the upper limbs. This suggests the possibility for the lower limbs to be used in the operation of multiple-degree-of-freedom devices, such as a robot arm. With that point in mind, the present paper focuses on the foot motion and examines its characteristics under the situation in which the posture of the object is manipulated by the posture change of the foot. First, we investigated how well the foot of the operator moved in accordance with the intention of the operator in order to clarify the motion characteristics of the foot experimentally by measuring the foot motion with a motion capture system under the assumption that the operator manipulates an object in virtual space. The results showed that there are differences between the intended and actual foot motions, especially when the tilt angle change was accompanied by a rotation angle change, which might be because of the joints whose axes of motion are nonparallel to the foot coordinate system, such as the talocalcaneal joint or Chopart joint. Next, an operating system considering the motion characteristics of the foot was proposed, and an experiment to verify its effectiveness was conducted. When the proposed conversion formula was used to calculate the intended foot motion based on the actual foot motion, the operability improved with respect to the required time and path-following accuracy while manipulating an object to the target posture and with respect to subjective operability.