JP2021137948A5

JP2021137948A5 -

Info

Publication number: JP2021137948A5
Application number: JP2020123659A
Authority: JP
Filing date: 2020-07-20
Publication date: 2021-12-09
Anticipated expiration: 2040-07-20

Description

その場合には、図６(a),（ｂ）の外骨格構造70,71の仮想楕円72,73上の各3点に人工筋機構が取り付けられた状態になるので、内骨格は、その楕円上の各三角形を貫通する状態となる。従って、関節点をA、貫通点をB,Cとすれば、三角形ABCは関節角αに従い、人工筋相当部76,77,78に従属する。ここでBC=a、CA=b、AB=cとすれば、人工筋の伸縮により三角形ABCが決まり、余弦定理により関節角αが決まる。従って、人工筋相当部をLn+Xnとして伸縮量をXn（n=1,2,3）とすると、近似的に［数１］が成立する。
In that case, the artificial muscle mechanism is attached to each of the three points on the virtual ellipses 72 and 73 of the exoskeleton structures 70 and 71 in FIGS. 6 (a) and 6 (b), so that the endoskeleton is the same. It is in a state of penetrating each triangle on the ellipse. Therefore, if the joint point is A and the penetration points are B and C, the triangle ABC follows the joint angle α and is dependent on the artificial muscle corresponding portion 76,77,78. If BC = a, CA = b, and AB = c, the triangle ABC is determined by the expansion and contraction of the artificial muscle, and the joint angle α is determined by the cosine theorem. Therefore, if the artificial muscle corresponding portion is Ln + Xn and the expansion / contraction amount is Xn (n = 1,2,3), [Equation 1] is approximately established.

［数１］
a ² ＝b ^２＋c ^２ −２・b・c・cosα
∴α＝cos ^−１（b ^２＋c ^２ −a ² )/(2bc)）
＝cos ^−１（f(a、b、c)）

[Number 1]
a ² = b ² + c ² -2 ・ b ・ c ・ cos α
∴α ＝ cos ^-1 (b ² ＋ c ² −a ² ) / (2bc))
= Cos ^-1 (f (a, b, c))