著者

川村 卓 島田 一志 高橋 佳三 森本 吉謙 小池 関也 阿江 通良

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

vol.53, no.2, pp.423-438, 2008-12-10 (Released:2009-02-25)

参考文献数

20

被引用文献数

25 4

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The purpose of this study was to analyze three-dimensionally two groups of baseball strikers, i.e. high and low swing speed groups, and to compare the kinematics of their upper limb motion. Sixteen skilled male strikers were videotaped with two synchronized high-speed video cameras operating at 200 Hz. One trial in which the maximum bat head speed was achieved was selected for each subject and digitized to obtain three-dimensional coordinates of the segment end-points and the bat using a DLT technique. Subjects were divided into High (n=8) and Low (n=8) groups according to the bat head speed. The angles compared between the two groups were abduction-adduction, horizontal abduction-adduction, flexion-extension and internal-external rotation for both shoulders, flexion-extension for both elbows, supination-pronation for both forearms, radius-ulnar flexion, and dorsi-palmar flexion for both hands. The sequential data were normalized with the time from the point when the speed of the grip was over 3 m/s to the ball impact, and then averaged.1 Angles of elbow extension, forearm supination of the top arm, and ulnar flexion of both hands were much changed. However, the angles of both shoulder joints, bottom elbow and bottom forearm showed little change.2. The High group showed significantly larger shoulder adduction and horizontal adduction of a bottom arm than the Low group in 0–10% time and 50–70% time (p<0.05). The High group showed significantly smaller top elbow extension than the Low group in 40–70% time and 90–100% time (p<0.05).3. The High group showed significantly smaller top hand supination than the Low group in 100% time. In the time, the High group showed significantly larger bottom forearm pronation than the Low group in 50–70% time (p<0.05). The High group showed significantly larger dorsiflexion of the bottom hand than the Low group in 20–30% time (p<0.05).

著者

平山 大作 藤井 範久 阿江 通良 小池 関也

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.91-102, 2008

被引用文献数

4

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<p>本研究は, 大学野球投手を対象とし, 投球数の増加にともなうキネティクスの変化について検討することを目的とした. 実験試技は, 2台のフォースプラットフォームを埋設した簡易マウンドからストレートを投球するものであった. 被験者には, 10秒間隔で15球投げることを1イニングとし, イニング間に6分の休息をはさみながら9イニング, 計135球の投球を行わせた. 投球数とそれぞれのパラメータから単回帰分析を行い, 回帰係数の有意性について検定を行った (p<0.05). その結果, 投球数の増加にともない, ①踏込脚の股関節伸展の正仕事, 負仕事, 絶対仕事が減少する傾向がみられた. ②投球腕の肩関節内旋の正仕事が減少する傾向がみられた. ③投球腕への関節力による力学的エネルギーの流れの減少がみられた. ④投球腕の肩関節水平内転の正仕事および絶対仕事が増加する傾向がみられた. 以上のことから, 踏込脚の股関節伸展の仕事の減少は, 下肢のトレーニングの重要性を示唆するものであり, 投球腕の肩関節水平内転の仕事の増加は, "上肢動作に頼った投球動作" を示すものであると考えられる.</p>

著者

小池 関也 見邨 康平

出版者

一般社団法人日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集

巻号頁・発行日

vol.2015, pp."A-24-1"-"A-24-10", 2015-10-30

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The purpose of this study was to quantify the contribution of the whole-body joint torques to the generation of evaluation values during baseball batting motion, such as bat head speed and angular motion of the lower trunk in consideration of the joint torque generating mode. The whole-body segments and bat were modeled as a system of sixteen-rigid linked segments, and constraint axes of the elbow, wrist, knee and ankle joints were modeled with anatomical constraint equations in order to consider the degree of freedom (DOF) of the joint. Each hand was considered to be connected with the bat through zero DOF joint. The equation of motion with respect to the whole-body and bat was obtained by considering modelling errors, such as, residual joint force and moment, and fluctuation of segment's length. The dynamic contributions of the joint moments, motion dependent term and gravity term to the bat head speed and angular motion of the lower trunk were derived from the equation of motion for the system. Furthermore, the joint torque was divided into two components, such as eccentric torque component, which shows negative sign of its torque power, and concentric torque component, which shows positive sign of its torque power. The results obtained in this study showed that 1) motion dependent term was the great contributor to the generation of bat head speed and 2) major contributors to the generation of the bat head speed, such as concentric components of knob-side shoulder abduction torque and torso joint rotational torque were quantified by considering main generating factor of motion dependent term.

著者

見邨 康平 小池 関也

出版者

一般社団法人 日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2016 (ISSN:24329509)

巻号頁・発行日

pp.A-34, 2016 (Released:2017-06-19)

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Motion-dependent term (MDT), which consists of centrifugal force, Coriolis force and gyroscopic effect moment expressed in the equation of motion for a multi-link system, plays significant roles in the generation of bat head speed through not instantaneous effect but cumulative effect of the exerting joint torques in baseball batting. According to our previous studies that calculate dynamics contributions of the whole-body joint torques considering generating factor of the MDT, the forward/backward rotational torque (FBR torque) at torso joint plays a significant role in the generation of bat head speed. These studies, however, show that the lower limb joint torques do not contribute directly to the bat head speed. Therefore, the purpose of this study was to make clear the functional roles of the lower limb joint torques considering the cumulative effect of exerting joint torques. The whole-body with bat was modelled as a system of sixteen-rigid linked segments. The contributions of the lower limb joint torques to the exerting FBR torque at torso joint were quantified through dynamic contribution equation, which relates lower limb joint torques to the torso FBR torque, derived from both dynamics joint force contribution equation of whole-body system and equilibrium balance equation with respect to rotational movement of the lower trunk segment. The results obtained in this study show 1) lower limb joint torque, especially flexion/extension torque at both hip joints, is a large contributor to the generation of the torso FBR torque, and 2) lower trunk inertial force term and other terms are small contributors to the FBR torque. The development of this analytical method would enable us to quantify the contribution of the lower limb joint torques.

著者

小池 関也 見邨 康平

出版者

一般社団法人 日本機械学会

雑誌

Dynamics & Design Conference 2016 (ISSN:24242993)

巻号頁・発行日

pp.506, 2016 (Released:2017-06-19)

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Previous studies, which calculate dynamic contributions of the whole-body joint torques to the generation of bat head speed by using the equation of motion for whole-body with bat system, showed that the motion-dependent term is the largest contributor to the generation of the bat head speed at the ball impact, and also showed that joint torques of the upper limb joints and the torso joint are the main contributors to the head speed with consideration of the generating factors of the motion-dependent term. These results do not tell us the roles of the lower limb joints in the bat head speed generating mechanism. So in order to quantify the roles of the lower limb joints in the mechanism, we quantify the dynamic contributions of the whole-body joint torques to the generation of forward/backward rotational motion of the lower trunk segment during baseball batting motion. Five collegiate baseball players participated in this experiment. They performed hitting a teed ball as strong as possible. Kinetic data of each hand and each foot were obtained by using an instrumented bat equipped with 28 strain gauges and 3 force platforms, respectively. From the results, the flexion/extension torque of both hip joints showed the largest contribution to the forward angular velocity of the lower trunk segment against the large negative contribution due to the torso joint torque. This result indicates that these hip joint torques play an important role to exert large rotational torque at the torso joint, and these hip joint torques show indirect contributions to the bat head speed.

著者

福田 崇 宮川 俊平 小池 関也 藤谷 博人 山元 勇樹

出版者

筑波大学

雑誌

基盤研究(C)

巻号頁・発行日

2014-04-01

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加速度計による頭部作用力の測定から、頭部衝突数において、1名の大学アメリカンフットボール選手で1回あたりの練習時と試合時の衝突数はそれぞれ14.3回と18.1回であった。また頭部衝突時の平均最大直線加速度は、練習時19.04±10.1G、試合時20.82±12.1Gであり、試合時は練習時よりも有意に高い頭部作用であることを本邦で初めて報告した。しかし、実際に脳振盪に至ったデータは収集できておらず、より多くのデータから衝突時の頭部作用を検討する必要がある。ひずみゲージを用いて衝突時の複数部位における頭部作用力を推定する手法を確立するにはヘルメットと模擬頭部の間の密着性を高めることが必要である。

著者

小池 関也

出版者

東京工業大学

巻号頁・発行日

1995

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博士論文

著者

小池 関也 山家 勝裕 下嶋 浩

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.64, no.622, pp.2094-2101, 1998-06

参考文献数

15

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A hybrid control method for a flexible manipulator based on an angular velocity control is presented, which is applicable to curved constraint surfaces. The error of contact force is converted into a velocity vector according to the force/velocity conversion law which consideres both force respose characteristics and variational angular velocity with respect to normal direction of the surface. The velocity vector which is tangent to the constraint surface is calculated using the velocity control law. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vectors. A vibration control law is proposed to reduce overshoot of end point velocity response. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and vibration control term. Motion and force controls without calculating inverse dynamics is performed using DC motors whose desired values are equal to the above desired angular velocity vectors. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

下嶋 浩 松永 義弘 小池 関也 梶原 逸朗

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.65, no.633, pp.1849-1856, 1999-05

参考文献数

7

被引用文献数

2

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An approach for feedback active noise control of a one dimensional duct with multiple control sources based on modal analysis is presented in this paper. Based on experimental modal analysis, the modal parameters of an acoustical system are derived from measured multiple frequency response functions. The state equation of the duct is described by the identified modal parameters. Considering eigenvectors of the acoustical system calculated by finite element method, control sources are located to the duct. A feedback active noise controller is designed based on mixed H_2/H_∞ problem in addition to H_∞ problem, preventing the increase in dimensions of the controllers. Simulations are carried out using the designed controllers. Moreover experiments are carried out using identified controllers based on modal analysis to reduce dimensions of the controllers. The desired performances are obtained by the presented approach.

著者

小池 関也 下嶋 浩

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.60, no.575, pp.p2323-2330, 1994-07

被引用文献数

2

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This paper presents a simple hybrid method for controlling both the motion and contact force of a manipulator without calculating inverse dynamics. The contact force is converted into a velocity vector according to the force/velocity conversion law. The velocity vector which is tangent to the constraint surface is calculated by the velocity servo. The desired velocity vecotor is obtained as a sum of the above two velocity vectors. The desired axial velocity vector is calculated from the desired velocity vector using inverse Jacobian matrix. Motion and force control is performed using DC motors whose desired values are the above desired axial velocity vector. The stability of the motion control system is also considered.

著者

小池 関也 小林 優揮 飯田 裕 下嶋 浩

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.67, no.654, pp.321-328, 2001-02-25

参考文献数

10

被引用文献数

2

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This paper proposes an active noise controller applicable to a moving evaluation point in one dimensional acoustic field. A combined adaptive feedforward/feedback controller based on filtered-x LMS algorithm is proposed. The feedforward controller is utilized for the noise reduction, and the feedback controller is utilized for the reduction of howling, which occurs with use of acoustic reference signal at feedforward controller. For the sake of stable noise control under moving evaluation point, necessity for a real time identificator of transfer function of the error path, which uses a microphone fixed in the neighborhood of the control speaker, is shown. Stable noise reduction without howling is realized by using above combined controller and the real time identificator with use of acoustic reference signal aiming practical use. A straight duct is chosen as a one dimensional acoustic field. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed controller.

著者

小池 関也 下嶋 浩 山家 勝裕

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.61, no.590, pp.3999-4006, 1995-10-25

参考文献数

16

被引用文献数

1

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A simple method is presented for controlling the motion and gripping force in dual flexible manipulators without calculating inverse dynamics. The gripping force is converted into a velocity vector according to the proposed force/velocity conversion law considering the flexibility of the manipulator. The velocity vector of contact point is calculated from the velocity of the object. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vector considering defectional velocity of the flexible links. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and strain feedback term. Coordinative control is performed using DC motors whose desired values are equal to the above desired angular velocity vector. The characteristics of gripping force response of control system is also considered. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

小池 関也 小林 優揮 飯田 裕 下嶋 浩

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. C編 = Transactions of the Japan Society of Mechanical Engineers. C (ISSN:03875024)

巻号頁・発行日

vol.67, no.660, pp.2521-2527, 2001-08-25

参考文献数

13

被引用文献数

2

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A basic noise control system applicable to a moving evaluation point was proposed in the previous report, and its effectiveness was examined numerically and experimentally. Although the results showed that the proposed system is effective, it can only handle the case of slow evaluation point velocity. This restriction seemed to be due to the slow convergent speed of the adaptive filter. In this paper the cause of restriction is examined in detail, and an advanced control system is proposed. The features of the proposed system are as follows : 1) Improved feedback controller where main filter is less affected by the movement of the evaluation point. 2) Introduction of IIR filter together with the learning identification method to the error path identifier. The new system is examined both in simulation and experiment and shows great improvement compared with the basic model.

著者

小池 関也 下嶋 浩 榎本 明夫

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.61, no.583, pp.1064-1071, 1995-03-25

参考文献数

16

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This paper presents a simple method for controlling both the motion and contact force of a flexible manipulator without calculating inverse dynamics. The contact force is converted into a velocity vector according to the proposed force/velocity conversion law considering the flexibility of the manipulator. The velocity vector which is tangent to the constraint surface is calculated using velocity control law. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vectors considering deflectional velocity of the flexible links. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and strain feedback term. Motion and force control is performed using DC motors whose desired values are the above desired angular velocity vectors. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

小池 関也

巻号頁・発行日

2012

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科学研究費助成事業(科学研究費補助金)研究成果報告書:基盤研究(C)2009-2011

著者

浅井 武 瀬尾 和哉 藤井 範久 高木 英樹 小池 関也 藤澤 延行

出版者

筑波大学

雑誌

基盤研究(B)

巻号頁・発行日

2008

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本研究では,先端的スポーツ流体科学・工学の基盤創生と展開研究の一環として,実際にキックされたナックルボールに対して,高速度ビデオカメラと発煙物質を用いて可視化し,渦放出の動態について検討した.その結果,飛翔するボールに働く横力と揚力の周波数と,大規模渦構造における渦振動の周波数に高い相関がみられた(r=0.94,p<0.01).これらのことから,大規模渦構造における渦振動がナックルボールの不規則な変化を引き起こす大きな原因の一つになっていると考えられた.