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Analysis of Human Standing-Up Motion Based on Distributed Muscle Control

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 83))

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Abstract

In developed countries, an aging society has become a serious issue; many activities of daily living (ADL) are impaired in the elderly. In order to improve this situation, it is necessary to develop an assisting method for the human standing up motion because it is considered to be an important factor to ADL. It is unclear, however, how humans coordinate their multiple distributed actuators, muscles, due to the ill-posed problem of redundant their body system. In this paper, we analyze the human standing-up motion based on muscle coordinations, called synergies. A simulation method was developed to make mappings between muscle activations, joint torque, and the human body trajectory; thus, it can be predicted how modular muscle coordinations contribute to the motion. As a result, two primary synergies were extracted and how they coordinate to achieve the motion was elucidated; one synergy strongly affected joint movements and speed of the motion while bending the back and lifting the body up, and the other synergy controls their posture after they lift up their body. These findings could be useful for development of an assisting robotic system for rehabilitative training based on extracted distributed synergies from complex redundant human motion.

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Authors and Affiliations

  1. Dept. of Precision Engineering, Faculty of Engineering, The University of Tokyo, 7-3-1, Hongo, Bunkyou-ku, Tokyo, Japan

    Qi An, Hajime Asama & Tamio Arai

  2. Dept. of Mechanical and Intellectual Systems Engineering, Faculty of Engineering, University of Toyama, 930-8555, Gofuku, 3190, Toyama City, Japan

    Yusuke Ikemoto

Authors
  1. Qi An
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  2. Yusuke Ikemoto
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  3. Hajime Asama
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  4. Tamio Arai
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Corresponding author

Correspondence to Qi An .

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Editors and Affiliations

  1. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Alcherio Martinoli

  2. EPFL STI IMT LSRO, Station 9, Lausanne, 1015, Switzerland

    Francesco Mondada

  3. 430 UCB, Engineering Drive 1111, Boulder, 80309, Colorado, USA

    Nikolaus Correll

  4. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Grégory Mermoud

  5. , Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, 30332, Georgia, USA

    Magnus Egerstedt

  6. , Mechanical Engineering & Mechanics, Drexel University, Randell 115, Chestnut St. 3141, Philadelphia, 19104, Pennsylvania, USA

    M. Ani Hsieh

  7. , Department of Electrical Engineering and, University of Tennessee, Middle Drive 1520, Knoxville, 37996, Tennessee, USA

    Lynne E. Parker

  8. Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, Odense, 5230, Denmark

    Kasper Støy

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An, Q., Ikemoto, Y., Asama, H., Arai, T. (2013). Analysis of Human Standing-Up Motion Based on Distributed Muscle Control. In: Martinoli, A., et al. Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32723-0_38

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  • DOI: https://doi.org/10.1007/978-3-642-32723-0_38

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32722-3

  • Online ISBN: 978-3-642-32723-0

  • eBook Packages: EngineeringEngineering (R0)

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