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

在这项研究中，提出了与人体肌肉-骨骼系统相对应的带有肌肉等致动器的刚性连杆模型，以评估人体运动的力学特性。在机械性能评价的基础上，进行了几种辅助装置的设计。首先，我们考虑了如何将轮椅调整到使用者的位置，以实现高效的推进。刚性连杆模型是根据用户身体段的尺寸和产生的关节力矩构建的，用于根据用户推进的实验数据获得推进的最优形式或轮轴位置的最优设置。通过多次实验，确定了最佳的设计和设置。其次，开发了用于假肢设计的三维行走模拟器。在地板反力和关节角度的时间序列上对仿真结果进行了比较，为几种类型的假肢的设计提供了参考。第三，w…更多建议采用功能性电刺激(FES)治疗肩关节半脱位。建立肩关节肌肉骨骼系统模型，用于模拟功能性电刺激的效果。将此模拟结果与在肩部植入FES终端的患者的运动情况进行了比较。该模拟器对于先验估计FES治疗是有用的。第四，建立了站位稳定性的数学模型，对站位稳定性进行了仿真评价。拟议中的模式的可能性仍在调查中。稳定直立位置的重要部件是迷宫系统。针对位置干扰的眼球运动可以解释为迷宫系统的作用。我们使用另一位研究人员提出的特定结构来确定每个模型以适合每个个体。识别出的模型能够很好地估计眼球运动，因此，基于脑力负荷对迷路系统功能的抑制，我们将该模型应用于脑力负荷的评估。总的来说，基于模型的方法被认为对人体运动的机械评估和辅助设备的设计非常有用和有效。本研究为设计几种辅助器具奠定了基础。较少

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