@techreport{oai:ipsj.ixsq.nii.ac.jp:00234919,
 author = {笠井, 慎太郎 and 我妻, 広明 and Shintaro, Kasai and Hiroaki, Wagatsuma},
 issue = {32},
 month = {Jun},
 note = {身体負担の軽減による関節障害や疾病予防を目的として様々な外骨格型装具が開発されているが，柔軟体の変形に伴う非線形弾性力を用いたデバイスの開発には，ヒト動作中の負荷集中の箇所やタイミングと柔軟体の形状によってもたらされる支援力の一致を評価する必要がある．本研究では，ヒト動作に伴う柔軟要素の変形により生じる力を求め，各関節に作用する駆動トルクを柔軟体 MBD 理論に基づき逆動力学的に求めることで，柔軟要素の形状による関節負荷の増減を検証する．, Various exoskeleton-type orthotics have been developed in the aim of prevention of joint disorders by reducing the burden on the joints of the body. Assistive force generation was ordinarily provided by rotary/linear actuators and elastic bands based on Hooke's law as a linear force generation. Recently the usage of soft materials is highlighted, while the effect and mechanism of nonlinear elastic forces associated with the deformation of a flexible body is still unclear, especially in the requirement of the concentration of load during human movement. In the present study, we evaluated the correspondence between the support force provided by the location and timing of the flexible body and the shape of the flexible body. In the computer experiment, by calculating inverse dynamics based on body MBD theory, we verified the increase and decrease of joint load depending on the shape of the flexible element.},
 title = {非線形弾性力を利用する外骨格型支援具開発に向けたfMBD逆動力学解析に基づく柔軟体形状によるヒト動作中の関節負荷増減の検討},
 year = {2024}
}