Analysis of Effect of Motion Path on Leg Muscle Load and Evaluation of Device to Support Leg Motion During Robot Operation by Reducing Muscle Load
Analysis of Effect of Motion Path on Leg Muscle Load and Evaluation of Device to Support Leg Motion During Robot Operation by Reducing Muscle Load
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DOI：
10.1109/access.2021.3066192
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发表时间：
2021
期刊：
影响因子：
3.9
通讯作者：
Hiroki Kato;Tatsuro Terakawa;M. Komori;Ikko Yasuda
中科院分区：
文献类型：
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作者：
Hiroki Kato;Tatsuro Terakawa;M. Komori;Ikko Yasuda
由于人类的手臂和腿具有相似的骨骼结构，因此有可能通过主从方法使用腿来操作机器人。然而，用六个自由度的腿进行手术有两个问题。首先，尽管人们打算线性移动脚踝，但他们的脚踝却是弯曲的。第二，操作者在操作过程中双腿悬吊在空中是一种负担。本研究就是针对这些问题展开的。对于第一个问题，我们假设其中一个原因是弯曲运动的肌肉负荷小于直线运动的肌肉负荷，并通过肌肉骨骼分析对两者进行了定量比较。弯曲运动的肌肉负荷前后方向比直线运动小20%，横向小3.1%~23.8%，垂直方向小10%，说明假设是一致的。此外，将分析结果与之前一项研究的结果进行比较表明，受试者在有意识地做直线运动的同时，在移动脚踝时，无意识地试图减少肌肉负荷，并向直线移动。对于第二个问题，我们开发了两种不同的腿部支撑装置原型。一项评估这些装置有效性的实验表明，使用这些装置的实验任务的主观运动强度比没有使用装置的任务的主观运动强度低40%或更多，这证明了装置的有效性。
Because the human arm and leg have a similar skeletal structure, it may be possible to use the leg to operate a robot by the master-slave method. However, operation by the leg with six degrees of freedom has two problems. First, people move their ankle with a curved motion despite intending to move it linearly. Second, it is a burden for the operator to suspend their legs in the air during operation. This study dealt with these problems. For the first problem, we hypothesized that one of the reasons was that the muscle load of a curved motion was smaller than that of a linear motion, and we quantitatively compared them by musculoskeletal analysis. The muscle loads of curved motions were 20% smaller in the anteroposterior direction, 3.1% to 23.8% smaller in the lateral direction, and 10% smaller in the vertical direction than linear motions, which showed that the hypothesis was consistent. Further, comparison of the analysis results with the results of a previous study suggested that subjects unconsciously tried to reduce the muscle load and to move closer to a linear line when they moved their ankle while consciously intending to make a linear motion. For the second problem, we developed two different prototypes of a leg support device. An experiment to evaluate the effectiveness of these devices showed that subjective exercise intensity of the tasks in the experiment using the devices was 40% or more less than that without the device, which proved the effectiveness of the devices.