Manipulability Analysis with Human Joint-Torque Characteristics of the Lower Extremity

摘要

This paper proposes a new evaluation method for human multi-joint movements by inspiring human joint-torque characteristics into the manipulability measurements developed for robotic mechanism. A human realizes flexible and skillful movements by controlling his/her musculoskeletal system and the interactive force with environments appropriately. This paper, first, investigates human joint-torque in the lower extremities and reveals its characteristics depending on joint-angle and rotation-direction. Next a quantitative performance index based on human joint-torque characteristics is proposed. The effectiveness of the proposed method is then demonstrated on leg movements in sitting a seat.