| Project/Area Number |
22760200
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Osaka Electro-Communication University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2010: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
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| Keywords | 生体機構制御 / 三対6筋 / 腓腹筋 / 二関節筋 / 一関節筋 / 跳躍 / 着床 / 筋電図 / モデル解析 |
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| Research Abstract |
Unlike conventional robots, in which a single actuator controls the movements of a single joint, humans have pairs of antagonistic muscles, including bi-articular muscles. These muscles function together to simultaneously move two joints, controlling the viscoelasticity and the force generated at the ends of the four extremities. From this perspective, we proposed a simplified lower-extremity link model that takes into consideration not only the mono-articular muscles of the various joints, but the bi-articular muscles as well. We then demonstrated that the parallel link mechanism of the gastrocnemius muscle, the bi-articular muscle along the posterior crus, is strongly involved in stabilizing a jumping motion, and that the coordinated contraction mechanism of the three pairs of muscles in the femoral region contributes to absorbing the force generated during the landing motion.
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