Research on Individual Design Simulator to Develop Home Care Equipment fitted Personal Physical Properties

本研究项目的目的是开发一种适合个人物理特性的家居护理设备的个性化设计模拟器。从力学的角度考虑人体上肢，每个自由度的运动都是由两块以上的肌肉驱动和控制的。本文提出了前臂关节旋前旋后和肩关节屈曲时人体上肢肌力的数值分析方法。由于没有肌肉力的计算只能从力或力矩的平衡方程出发，因此采用拉格朗日乘子的优化方法。肌肉由一条从原点到插入点的直线来建模。分析结果主要受肌肉骨骼几何形状的影响，尤其是前臂短肌肉的分析结果表现出这样的影响。因此，通过使用HUMA…的塑料三维原型来确定肌肉路径更多的上肢。在优化方法的目标函数中选取参数来表示只作用于收缩方向的肌肉特性。因此，可以解析地将增效剂和拮抗剂分开。这一分析结果得到了肌电图仪实验的证实。在大雪和低温的冬季，居住在日本最北端岛屿北海道的不仅是残疾人，还有老年人都渴望参加户外活动。这些人中的大多数人冒险到户外购物或去医院，即使在恶劣的条件下也是如此。轮椅通常用于户外交通。然而，在冬天使用轮椅会有很多问题；覆盖着冰雪的道路非常滑，脚轮很容易被雪埋起来，手环太冷了，无法处理。因此，人们非常需要一种适合冬季户外使用的轮椅。我们正在开发一种电动轮椅，冬天可以在户外使用。在这项工作中，测试了前轮驱动、后轮驱动和前轮自由脚轮以及后轮驱动和机械控制脚轮三种类型的电动轮椅在结冰的道路、积雪的道路和室内地板上的行驶性能。此外，还提出了模拟电动轮椅在雪地条件下行驶性能的计算方法。在冬季电动轮椅的使用中，电池的放电容量在低温下急剧下降是一个非常重要的问题。本文研究了电动轮椅用电池在恒定低温下的充放电性能。覆盖着发泡聚乙烯的电池也在相同的条件下进行了测试。此外，我们还进行了电动轮椅的驾驶试验，考察了冬季新鲜积雪道路、密实积雪道路和夏季正常道路上电动轮椅的放电能力。较少

The aim of this research project is to develop an individual design simulator to home care equipment fitted personal physical properties. The following results were obtained:Considering the human upper limb from the viewpoint of mechanics, every degree of freedom of motion is actuated and controlled by more than two muscles. In this work, a method of numerical analysis of muscle force in a human upper limb was proposed during pronation-supination of the forearm joint and during flexion of the shoulder joint.. Because no muscle force can be calculated from only the equilibrium equations of force or moment, the optimization method using Lagrange multipliers. Muscles were modeled by a straight line from the origin to the insertion. The analytical results were mostly affected by musculoskeletal geometry, in particular, the results for the short muscles of the forearm exhibited such an effect. Therefore, the muscle paths were determined by using a plastic three-dimensional prototype of huma … More n upper limb. Parameters in the object function of the optimization method were selected to express the muscle properties acting only in the direction of the contraction. Therefore, the synergist and the antagonist could be separated analytically. The results obtained from this analysis were confirmed by experiments using electromyography.Not only handicapped people but also elderly people living in Hokkaido, the northernmost island in Japan, desire to participate in outdoor activities during a winter season that is characterized by heavy snow and low temperatures. Most of these people venture outdoors to go shopping or to hospitals, even under severe conditions. A wheelchair is generally used for outdoor transport. There are, however, many problems with using a wheelchair during the winter; roads covered with snow and ice are very slippery, casters are easily buried in snow, and handrims are too cold to handle. Therefore, an appropriate wheelchair for outdoor use during the winter season is greatly desired. We are developing an electric wheelchair effective for outdoor use during the winter. In this work, three types of electric wheelchairs with front-wheel drive, rear-wheel drive and front free casters, and rear-wheel drive and mechanically controlled casters, were tested for drivability on icy roads, snow-covered roads, and indoor floors. In addition, computational methods were proposed to simulate the drivability of electric wheelchairs under snowy conditions. In winter use of an electric wheelchair, it is much important problem that the discharge capacity of battery extremely drops for low temperatures. In this work, batteries for the electric wheelchair were examined on charging and discharging under constant lower temperature. Batteries covered with foamed polyethylene were also tested at the same condition. In addition, we carried out driving tests of electric wheelchair to investigate discharging ability on fresh-snowed road and compact snowed road in winter and normal road in summer. Less