著者

中島 求 茂木 勇悟

出版者

バイオメカニズム学会

雑誌

バイオメカニズム (ISSN:13487116)

巻号頁・発行日

vol.19, pp.81-90, 2008 (Released:2017-02-15)

参考文献数

13

被引用文献数

1

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本研究では, 水泳における筋骨格解析を可能とするため, 著者らが開発ずみで水泳の動力学解析が可能な水泳人体シミュレーションモデルSWUMと筋骨格モデルを統合した, 水泳用全身筋骨格シミュレータを開発した. そのため, まず身体形状, 関節運動, および流体力のSWUMからの出力情報を筋骨格モデルに入力するデータ変換手法を構築した. 次に, 構築したデータ変換手法を, SWUMが実装されたソフトウェアに実装することにより, 統合シミュレータ化を行った. そして開発したシミュレータを用いて, クロール, 平泳ぎ, 背泳ぎ, バタフライの4泳法の解析を行った. さらに従来研究の筋電図測定結果と比較することにより, 本シミュレータの妥当性を検証した. その結果, 本シミュレータによる解析結果は筋電図測定結果と筋力発揮タイミングについて良く一致し, 筋力発揮タイミング推定に関しての本シミュレータの妥当性が確認された.

著者

中島 求

出版者

バイオメカニズム学会

雑誌

バイオメカニズム学会誌 (ISSN:02850885)

巻号頁・発行日

vol.28, no.1, pp.13-17, 2004 (Released:2004-08-13)

参考文献数

10

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魚・イルカの遊泳運動に関する研究を紹介する.まず高速遊泳動物に見られるマグロ・イルカ形の遊泳に関して推力発生の原理を説明する.次に,ダイナミクスをより詳細に解析するため著者らが提案した解析モデルおよびその解析結果について述べる.さらに著者らが開発した3機のイルカロボットを紹介する.1号機および2号機は直進遊泳性能を調べるために開発され,それぞれ最高推進速度1.15 m/s, 1.9 m/s を達成している.また3号機は機動性能を研究するために開発され,現在,胴体全長の約半分の回転半径で水中宙返り運動が可能である.

著者

中島 求 江尻 祐介

出版者

一般社団法人 日本機械学会

雑誌

年次大会

巻号頁・発行日

vol.2011, pp._J053014-1-_J053014-5, 2011

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In the previous study, the swimmer mannequin, which reproduces the 3D body shape of an athlete swimmer with high fidelity and can perform three degrees-of-freedom motion, was developed, and the fluid force acting on the swimmer mannequin was measured. In this study, the unsteady fluid force acting on the swimmer mannequin was modeled. The formulation of the swimming human simulation model SWUM, which the authors have already developed, was used for the fluid force model. Three fluid force coefficients in the model were determined using the optimizing calculation so that the discrepancy between the simulated fluid force and experimental one became minimum. Further, the unified coefficients were determined by taking the averages of the values for all the trials. Using the unified determined fluid force coefficients, the comparisons between the simulated fluid forces and the experimental ones were carried out. It was found that the simulation could reproduce the experimental characteristics with respect to the time fluctuation.

著者

青山 絢子 中島 求

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 B編 (ISSN:03875016)

巻号頁・発行日

vol.73, no.734, pp.2018-2026, 2007

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The objective of this study was to investigate the stability during freefall in skydiving, in which the diver has to take various body position in order to control precisely their distance, velocity, and direction relative to the other divers for the group performance. For this objective, the state equation for a simple elliptic cylinder model was firstly derived, considering its equations of motion and the fluid force characteristics. Next, using the form of state equation derived for the elliptic cylinder and the input/output data obtained from the developed simulation method for the body behavior of the skydiver, the state equations of skydiver were identified for various body positions. Finally, roots of the state equations were obtained to investigate the stability. As the results, the causes of instability such as spin and spiral phenomena were clarified as an unstable natural modes, and the stable limit of body position was obtained as a value of parameter which is related to the arch magnitude of the diver's body.

著者

中島 求

出版者

一般社団法人 日本機械学会

雑誌

年次大会

巻号頁・発行日

vol.2013, pp._F112002-1-_F112002-5, 2013

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The swimming motions of animals are quite interesting and useful from the viewpoint of science and engineering. Three dolphin-like robots and a swimming humanoid which were developed by the author's group were introduced in this paper. The dolphin-like robots of Type 1 and Type 2 were developed in order to investigate the performance of the steady straight swimming. Type 1 had one air motor to actuate the caudal fm and one passive joint at the root of the fin. The total length of the robot was 1.75m. The maximum swimming speed of 1.15m/s and the maximum propulsive efficiency of 65% were achieved. Type 2 had the similar structure with Type 1 although the main joint was actuated by an electric motor whose maximum power was 7.4kW. The maximum swimming speed of 1.9m/s was achieved. Type 3 was developed in order to investigate the performance of the maneuverability. A loop-the-loop motion and three-dimensional motion in the water were realized. The swimming humanoid was developed for research of human swimming. It had 20 motors inside and the body size was half of an actual competitive swimmer. The swimming motion in a circulating water tank and the free swimming in a swimming pool were realized, respectively.

著者

中島 求

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.33, no.1, pp.2-6, 2015

著者

吉池 哲也 森川 裕久 孫 啓龍 小林 俊一 中島 求

出版者

一般社団法人 日本機械学会

雑誌

年次大会講演論文集

巻号頁・発行日

vol.2008, pp.89-90, 2008

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It is known that a dolphin swims fast and freely in water. The propulsive performance and the kinetic performance of the dolphin are one of great concern among researchers. We paid attention to the dolphin's tail flukes which has an important role to generate propulsive force. So the experiments on both the propulsive force of the outboard propulsor with the oscillating wing which is similar to the dolphin's tail flukes in shape and the velocity of a small boat equipped with the outboard propulsor were carried out. The propulsive performance of the wing was discussed compared with rectangular wings.

著者

中島 求

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.33, no.1, pp.2-6, 2015 (Released:2015-02-15)

参考文献数

13

著者

桑原 宏介 中島 求

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._3A1-J05_1-_3A1-J05_4, 2014-05-24 (Released:2017-06-19)

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The objective of this study was to measure thrust for crawl stroke by using a humanoid robot. The swimming humanoid robot had 20 servo motors for the whole body and could perform basic human swimming motion except for the breaststroke. A driving mechanism to move the humanoid robot in pitching, heaving and rolling motions was installed. Force sensors and a circulation tank which could make water flow was used for the measurement system. The thrust was measured when the robot performed standard crawl stroke motion at 9.0 s cycles. The positive thrust could be measured while the arm was paddling the water. It was also confirmed that insufficient recovery stroke generated the negative thrust.

著者

青山 絢子 中島 求

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2004, 2004

著者

面田 雄一 中島 求

出版者

一般社団法人 日本機械学会

雑誌

Dynamics & Design Conference

巻号頁・発行日

vol.2004, pp._706-1_-_706-6_, 2004

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The objective of this study is to clarify the principle of the most stable position in the skydiving freefall. As the first step, the simulation method to analyze the dynamic behavior for freefall has been developed by the authors. In this report, an optimizing calculation to maximize an objective function with respect to the stability in the freefall is conducted. It is found that the most stable position becomes arched one. Next, the simple configuration that consists of 20 cylinders is optimized, and the angle to maximize restoring moment about each cylinder element is calculated and compared with optimized angle.

著者

中島 求 面田 雄一

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 B編 (ISSN:03875016)

巻号頁・発行日

vol.73, no.734, pp.2010-2017, 2007

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The objective of this study was to develop a simulation method for analysis of body behavior in skydiving freefall and to clarify the most stable body position during the freefall. The details of the developed simulation method were firstly described. Using the simulation method, we conducted an optimizing calculation to maximize an objective function with respect to the stability in the freefall. It was found that the most stable position became arched one. In order to clarify the reason why the most stable position became arched, optimization with respect to a simple shaped object which consists of 20 cylinders was conducted. Then the angle to maximize the restoring moment for each cylinder element was analytically calculated and compared with the optimized angle. From the results, we conclude that the most stable position becomes arched mainly since the restoring moment at each part itself becomes maximum at that angle. We also conclude that the magnitude of the arch in the most stable position is determined by the ratio of the normal and tangential drag coefficients.

著者

野村 武男 松内 一雄 榊原 潤 椿本 昇三 本間 三和子 高木 英樹 中島 求

出版者

筑波大学

雑誌

基盤研究(B)

巻号頁・発行日

2004

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工学分野で発展してきたPIV計測法(Particle Image Velocimetry)は、時々刻々変化する非定常な流れ場を可視化・解析することができる。これまでのこの手法を用いた研究は、細部の気流解析や魚などの小型遊泳動物、昆虫の飛翔メカニズムに関する研究のように測定領域が非常に小さいものしか行われていない。本研究では、PIV計測法を用いて、ヒト水泳時の身体周りの流れ場の可視化から流れの非定常性を明らかにし、競泳動作のダイナミクス解析、および泳シミュレーションモデルを作成する事で、ヒトの推進メカニズムを明らかにしようとした。ヒトを扱った測定領域の大きなPIV解析は世界的にも初である。PIV計測法を用いた研究結果から、ヒトは泳動作時に渦(運動量)をうまく利用し、効率よく推進力へと結び付けている事が明らかになった。泳者の手部および足部の複雑な動きは、それら推力発揮部位周りの循環の発生・放出と関係しており、特に手部の場合は、放出された渦と手部周りの束縛渦が渦対を作り、その渦対間にジェット流を生成し、運動量を作り出していることが分かった。この運動量の変化(増減)が推進力と結びついている。また、泳動作モデルの作成では、水泳時に身体各部位に働く流体力を算出するために用いられている3つの流体力係数(付加質量力係数、接線方向抵抗係数、法線方向抵抗係数)を分析の対象となる泳者の体型と泳動作に合うように調節することによって、水泳中のダイナミクスをシミュレーション上で再現することができ、水中ドルフィンキック泳動作中に発生する全身の推進力や各関節トルクなどを算出することができた。身体部位別の推進力を求めることによって、水中ドルフィンキックの推進力は主に足部によって発揮されていることがわかった。さらに、足部の柔軟性と泳パフォーマンスの関連性を示す事ができた。

著者

成田 健造 中島 求 仙石 泰雄 本間 三和子 椿本 昇三 高木 英樹

出版者

一般社団法人 日本体育学会

雑誌

体育学研究 (ISSN:04846710)

巻号頁・発行日

pp.17051, (Released:2018-06-15)

参考文献数

32

被引用文献数

2

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The purpose of this study was to compare active drag during front-crawl swimming performed by competitive swimmers with passive drag acting on the same group of swimmers with a streamlined position at various velocities. Seven male competitive swimmers participated in this study, and the testing was conducted in a swimming flume. Active drag was evaluated for front-crawl swimming with upper and lower limb motion using a methodology that estimates the drag in swimming using measured residual thrust values (MRT method). Passive drag was measured by a load cell connected to the swimmers with a streamlined position using a stainless-steel wire. In each case, drag was estimated at six staged velocities ranging from 1.0 to 1.5 m/s. To compare the drags at various velocities, we calculated coefficients a and b by applying the measured force value at each velocity to the equation D = a vb (D: drag, v: velocity). The active drag estimated from the MRT method (a = 35.7 ± 5.3, b = 2.80 ± 0.22) was larger than passive drag (a = 23.6 ± 3.1, b = 2.08 ± 0.23). Furthermore, the difference between active and passive drag was large at high velocities. Therefore, it is possible that the effects of factors other than posture and/or body shape have a large influence on active drag, especially at high velocity.

著者

福田 聡 中島 求

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会関東支部総会講演会講演論文集 2017.23 (ISSN:24242691)

巻号頁・発行日

pp.1616, 2017 (Released:2017-06-19)

著者

中島 求 面田 雄一

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. B編 (ISSN:03875016)

巻号頁・発行日

vol.73, no.734, pp.2010-2017, 2007-10-25

被引用文献数

1

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The objective of this study was to develop a simulation method for analysis of body behavior in skydiving freefall and to clarify the most stable body position during the freefall. The details of the developed simulation method were firstly described. Using the simulation method, we conducted an optimizing calculation to maximize an objective function with respect to the stability in the freefall. It was found that the most stable position became arched one. In order to clarify the reason why the most stable position became arched, optimization with respect to a simple shaped object which consists of 20 cylinders was conducted. Then the angle to maximize the restoring moment for each cylinder element was analytically calculated and compared with the optimized angle. From the results, we conclude that the most stable position becomes arched mainly since the restoring moment at each part itself becomes maximum at that angle. We also conclude that the magnitude of the arch in the most stable position is determined by the ratio of the normal and tangential drag coefficients.

著者

高木 英樹 尾崎 尚 中島 求

出版者

筑波大学体育科学系

雑誌

体育科学系紀要 (ISSN:03867129)

巻号頁・発行日

vol.33, pp.243-247, 2010-03

著者

長谷川 貴大 中島 求

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:18848354)

巻号頁・発行日

vol.78, no.795, pp.3665-3676, 2012 (Released:2012-11-25)

参考文献数

9

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The objective of this study was to clarify the effects of men's swimsuits on swimming position and muscle activity of body trunk in gliding motion. For this objective, a swimming experiment to measure electromyogram and gliding position in sagittal plane simultaneously was conducted for 3 types of men's swimsuit (A, B and C). Next, we compared experimental results one-on-one between the swimsuits by ANOVA. The results of the experiment and ANOVA showed that in wearing Swimsuit C, compared to Swimsuits A and B, hip became lower to shoulder (p<0.05), the hip joint became more extended (p<0.05), and the muscle activity of ES (Erector Spinae) and drag coefficient had tendency to decrease. In addition, we established a new index for the effect of body trunk support, which corresponds to the muscle activity of ES considering the change in the hip joint angle. We confirmed statistically that Swimsuit C had effects of extending hip joint and/or reducing the muscle activity of ES (p<0.05). The reason for this was considered to be that the Swimsuit C helped the hip extensor muscles.

著者

中島 求

出版者

一般社団法人日本機械学会

雑誌

流体工学部門講演会講演論文集 (ISSN:13482882)

巻号頁・発行日

vol.2005, 2005-10-28

被引用文献数

1

著者

中島 求

出版者

東京工業大学

雑誌

基盤研究(B)

巻号頁・発行日

2011-04-01

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本研究ではまず,全身駆動型スイマーロボットを開発した.本ロボットは実際の競泳選手の1/2サイズのヒューマノイドロボットであり,全身に20個のサーボモータを内蔵し,人間の泳動作を忠実に再現することができる.本ロボットを回流水槽に設置し,クロールの泳動作を行わせ,ロボット全体に作用する非定常流体力を測定する実験を行った.その結果,手が水をかく瞬間における推進力発揮が実験的に確認された.