625 身体運動の順動力学的分析 : 運動依存項の発生要因を考慮した貢献式の定式化(ヒューマンモデリング,OS-7 ヒューマンダイナミクス,総合テーマ「伝統を,未来へ!」)

Abstract

The motion dependent term makes significant role for generating end-point speed of linked segment systems, especially, in high-speed swing motion, such as, tennis serve, baseball pitching and batting motions. The motion dependent term is mainly caused by linear and angular velocities of the segments. These velocities are the results of joint torque and external joint force inputs into the system. We have proposed a converting algorithm of the motion dependent term into joint torque terms, external joint force term, and gravity term according to a recurrent equation with respect to the generalized velocity vector of the discrete time system. The purpose of this study was to formulate contributions of the joint torque term, external force input terms, and gravity term, in consideration of causing factor for motion dependent term, to evaluating factor of sports performances, such as, head speed and angular velocity of hitting tools with use of the algorithm. The results obtained in analyses of tennis serve motion show 1) shoulder internal torque is a great contributor to the generation of racket head speed during forward swing, and 2) the torque in the first half of the swing make significant role to generate the racket head speed at impact.