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Development of mechanical arms with safety for care in consideration with biomechanical reactions using complex functions

利用复杂的功能，考虑到生物力学反应，开发具有护理安全性的机械臂

基本信息

批准号：
21K03929
负责人：
山口誉夫
金额：
$ 1.83万
依托单位：
Gunma University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2021
资助国家：
日本
起止时间：
2021-04-01 至 2024-03-31
项目状态：
已结题

项目摘要

2021年度までに，手, 指, 腕などに運動物体が軽衝突した問題について，視覚情報の有無での動的応答の変化が表現できるような計算法と計算プログラムの開発と検証ができている．2022年度では，生体反応を含まない人体の有限要素数値解析モデルに,独自に提案する非線形複素復元力を用いた生体反応関数を組み込む検討を行った.汎用のFEMソルバーでは通常, 生体筋肉要素にHillモデルが用いられている.Hillモデル中の受動要素の非線形減衰項の減衰係数として筋肉の伸び率(stretch ratio)のべき級数の関数にするように定式化した. この時, Hillモデル中の受動要素の非線形復元力項のばね定数も筋肉の伸び率(stretch ratio)のべき級数の関数にするように定式化した. Hillモデル中の能動要素は, そのまま利用する. 非線形減衰項の減衰係数と非線形復元力項のばね定数は非線形複素復元力と等価になるように定式化した.今まで得られてきた研究成果に関連して，「International Conference on Technology and Social Science 2022 (ICTSS 2022):2021年テクノロジーと社会科学に関する国際会議」で招待講演として「Numerical computation of dynamic responses for hard/soft structures conflicting with living human bodies with reaction」のタイトルで発表した．

In 2021, the hand, finger, wrist, etc. were used to analyze the collision between moving objects and visual information. In 2022, the numerical analysis of finite elements of the human body was used to analyze the biological reaction. A non-linear complex is proposed for use in biological research. In general, the attenuation coefficient of the nonlinear attenuation term of the dynamic element in the Hill model is formulated as the attenuation coefficient of the nonlinear attenuation term of the dynamic element in the Hill model, and the attenuation coefficient of the nonlinear attenuation term of the nonlinear attenuation term is formulated as the attenuation coefficient of the nonlinear attenuation term. In this case, the relationship between the non-linear complex force term and the stretch ratio of the muscle and the series of the active element in the Hill equation is formulated. The active elements in Hill are utilized. The attenuation coefficient of the non-linear attenuation term and the coefficient of the non-linear complex force term are formulated. Today, the research results are related to the "International Conference on Technology and Social Science 2022 (ICTSS 2022): International Conference on Social Science 2021" and the "Numerical computation of dynamic responses for hard/soft structures conflicting with living human bodies with reaction".