Robotic analyses of output force distribution developed by human limbs
Robotic analyses of output force distribution developed by human limbs
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人体四肢输出力分布的机器人分析
DOI：
10.1109/roman.2000.892500
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
M. Kumamoto
中科院分区：
文献类型：
--
作者：
T. Oshima;T. Fujikawa;O. Kameyama;M. Kumamoto
我们提出了一个肌肉坐标系，包括双关节肌肉以及单关节肌肉，而不是传统的关节坐标系只包括单关节肌肉没有双关节肌肉讨论人机之间的接口。在等长和最大努力条件下，在人手臂的腕关节处开发的输出力分布展示了六边形形状。由于人体手臂的复杂肌肉排列可以简化为一对拮抗的双关节肌肉和两对拮抗的单关节肌肉（功能有效的肌肉力量），因此构建了具有三对肌肉的机器人手臂。在肌肉坐标系下操作的机器人手臂表现出六边形的输出力分布。而在关节坐标系下操作的机器人手臂则呈现四边形的输出力分布。六边形力分布的特性使得可以从人手臂输出力分布评估个体功能有效肌肉力量。这里获得的结果将使新的虚拟人模型比使用关节坐标系操作的传统模型更真实。这个想法对于人类友好的机器人也很有用。
We propose an introduction of a muscle coordinate system consisting of the bi-articular muscles as well as the mono-articular muscles instead of a conventional joint coordinate system consisting of only the mono-articular muscles without the bi-articular muscles to discuss an interface between man and machine. The output force distribution developed at the wrist joint of the human arm under isometric and maximal effort conditions demonstrates a hexagonal shape. Since complex muscle arrangements of the human arm could be simplified into one antagonistic pair of the bi-articular muscles and two antagonistic pairs of the mono-articular muscles (functionally effective muscular strengths), a robot arm provided with three pairs of muscles was built. The robot arm operated with the muscle coordinate system demonstrated hexagonal shape output force distributions. Whereas, the robot arm operated with the joint coordinate system showed quadrangular output force distributions. A characteristic of the hexagonal force distribution made it possible to evaluate individual functionally effective muscular strengths from the human arm output force distribution. The results obtained here will lead a new virtual human model to be more realistic than the conventional model operated with the joint coordinate system. The idea will also be useful for a human-friendly robot.