Design of Assistive Devices and Mechanical Evaluation of Human Movements for Matching to Individual Characteristics

在这项研究中，提出了具有与人类肌肉骨骼系统相对应的肌肉等执行器的刚性连接模型来评估人体运动的机械特性。我们还进行了一些基于力学评估的辅助器具设计。首先，我们考虑如何根据用户调整轮椅以获得有效的推进力的问题。刚性连杆模型是根据用户身体节段的尺寸和生成的关节力矩构建的，并用于根据用户推进的实验数据获得最佳的推进形式或轮轴位置的最佳设置。最佳设计和设置经过多次实验证实。其次，开发了三维步行模拟器来设计假腿。仿真结果在地板反作用力和关节角度的时间序列上进行了比较，可用于设计多种类型的假腿。第三，我们提出功能性电刺激（FES）以治愈肩关节半脱位。构建肩关节肌肉骨骼系统模型并用于模拟功能性电刺激的效果。该模拟结果与接受 FES 终端植入肩部手术的患者的运动进行了比较。模拟器对于先验估计 FES 治疗非常有用。第四，提出了模拟和评估站立位置稳定性的数学模型。所提出模型的可能性仍在研究中。稳定直立位置的重要元件是迷宫系统。针对位置干扰的眼球运动可以解释为迷宫系统的功能。我们使用其他研究人员提出的特定结构来确定每个模型以适合每个人。识别的模型可以很好地估计眼球运动；因此，我们基于迷宫系统的功能因脑力负荷而受到抑制的事实，应用该模型来评估脑力负荷。总的来说，基于模型的方法被认为对于人体运动的机械评估和辅助设备的设计非常有用和高效。本研究为多种辅助器具的设计奠定了基础。较少的

In this research, rigid link models with actuators like muscles, which are corresponding to musculo-skeletal systems of human, have been proposed to evaluate the mechanical properties of human movements. We also have carried out several design for assistive devices based on the mechanical evaluation. First, we consider the problem how to adjust wheelchairs to the users for the efficient propulsions. The rigid link models is constructed from the dimensions of user body segments and the generated joint moments, and is utilized to obtain the optimal form of the propulsion or the optimal setting of wheel-axis position with the experimental data of the user propulsion. The optimal designs and settings were confirmed by several experiments. Second, three dimensional walking simulator has been developed to design artificial legs. The simulation results were compared in time series of floor reaction forces and joint angles, and are useful for deigning several types of artificial legs. Third, w … More e propose functional electrical stimulation (FES) so as to heal subluxation of shoulder joint. A model of musculo-skeletal system of shoulder joint is constructed and used to simulate the effect of functional electrical stimulation. This simulation results were compared to the movements of patient who had the operation of implanting the FES terminals on his shoulder. The simulator is useful to estimate a priori the FES treatments. Fourth, a mathematical model has been proposed to simulate and evaluate the stability of standing position. The possibility of the proposed model is still under investigation. The important element for stabilizing upright position is labyrinth system. Eye movements against position disturbances can be explained as the function of labyrinth system. We identify each model to fit each individual using a specific structure which was proposed by another researchers. The identified model can estimate the eye movements well ; thus, we apply the model to evaluate mental workloads based on the fact that the function of labyrinth system is suppressed because of mental workloads. Totally, model-based approaches are thought to be very useful and efficient for the mechanical evaluation of human movements and for the design of the assistive devices. We have established the base for designing several kinds of assistive devices with this research. Less