著者

下嶋 浩 雉本 信哉 佐藤 治 前田 秀 斎藤 敦

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.59, no.562, pp.p1803-1808, 1993-06

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Motions of human arms are analyzed kinetically and kinematically with respect to smoothness. A kinematic arm model with 6 degrees of freedom is suggested and spatial motions are simulated considering the sum of the weighted square of joint displacements, which approximately equals kinetic energy of the whole arm. A low-pass filter is applied for smoothing the kinetic state variables, i. e. , displacement, velocity, and acceleration, and the smoothing transfomation is optimized from the aspect of characteristics of response and vibration. Such transformation is also applied to the human arm model, and the effects are investigated through simulations.