Posture Operating Method by Foot Posture Change and Characteristics of Foot Motion

摘要

The lower limbs of the human body actually can perform the multiple-degree-of-freedom motion, just like the upper limbs. This suggests the possibility for the lower limbs to be used in the operation of multiple-degree-of-freedom devices, such as a robot arm. With that point in mind, the present paper focuses on the foot motion and examines its characteristics under the situation in which the posture of the object is manipulated by the posture change of the foot. First, we investigated how well the foot of the operator moved in accordance with the intention of the operator in order to clarify the motion characteristics of the foot experimentally by measuring the foot motion with a motion capture system under the assumption that the operator manipulates an object in virtual space. The results showed that there are differences between the intended and actual foot motions, especially when the tilt angle change was accompanied by a rotation angle change, which might be because of the joints whose axes of motion are nonparallel to the foot coordinate system, such as the talocalcaneal joint or Chopart joint. Next, an operating system considering the motion characteristics of the foot was proposed, and an experiment to verify its effectiveness was conducted. When the proposed conversion formula was used to calculate the intended foot motion based on the actual foot motion, the operability improved with respect to the required time and path-following accuracy while manipulating an object to the target posture and with respect to subjective operability.