ランニング用義足が走り幅跳びに与える影響は？生体力学的モデルを用いた最適化予測と分析
What is the effect of running-specific prostheses on long jumps? Optimization-based prediction and analysis using biomechanical models
下腿切断者がランニング用義足で走り幅跳びを行う際の動作を、筋骨格モデルと最適制御問題を用いて再現・比較し、義足のバネ特性が跳躍距離に与える影響を分析した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Anna Lena Emonds, Johannes Funken, Wolfgang Potthast, Katja Mombaur
分類: cs.RO
原文アブストラクト
Long jumpers with below the knee amputation (BKA) that take off from their running-specific prosthesis (RSP) improved performances significantly over the last years. The long jump biomechanics differs compared to athletes without BKA and the question arises whether the spring-like properties of the RSP facilitate achieving long jumping distances. The aim of this work is to propose a long jump model for athletes with and without BKA, to evaluate it and to apply it for comparing long jump motions with and without RSP. We establish rigid multi-body system models of one athlete with and one athlete without below the knee amputation (BKA). Long jump motions are computed by solving a specific optimal control problem (OCP) with constraints enforcing a physically correct dynamics, both for motion reconstruction or motion synthesis. With the proposed long jump model, we are able to compute realistic long jump motions. We discuss the causes of differences in measured long jumps and show directions for eliminating them. For both athletes, the synthesized solutions reveal potential for performance improvement. The jumping distance of the athlete without BKA is 64cm (6.9%) longer than the one of the athlete with BKA in the synthesized solutions.