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片脚立脚期における歩行モデルの関節ばねの踏力への影響


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Title: 片脚立脚期における歩行モデルの関節ばねの踏力への影響
Other Titles: Influence of Joint Springs on the Step Force of Walking Model in the Monopedal Period
Authors: 眞武, 友一 / 御手洗, 忠 / 今井, 康文
Authors (alternative): Matake, Tomokazu / Mitarai, Tadashi / Imai, Yasufumi
Issue Date: Jan-1982
Publisher: 長崎大学工学部 / Faculty of Engineering, Nagasaki University
Citation: 長崎大学工学部研究報告, (18), pp.1-8; 1982
Abstract: Two step force peaks, breaking and driving, appear in the force diagram during a monopedal period of a normal walking. As a first step to understand the mechanism of peak appearance, the influence of the joint stiffness on the step force variation has been studied using the bipedal walking model proposed before. After the trial and error method, it has been cleared that range of values of spring constants of joints is quite limitted to be chosen for the model to move continuously alike human walking. Within that proper range of constants, followings have been concluded: Increase of the knee-joint stiffness increases the driving peak and increase of the hip-joint stiffness decreases the driving peak. The breaking peak is not so much influenced by the joint stiffness as the driving peak.
URI: http://hdl.handle.net/10069/24075
ISSN: 02860902
Type: Departmental Bulletin Paper
Text Version: publisher
Appears in Collections:No.18

Citable URI : http://hdl.handle.net/10069/24075

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