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RISS 인기검색어
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- 저자 : 하세 카즈노리(Kazunori HASE) (검색결과 3 건)
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엄광문(Gwang Moon EOM),하세 카즈노리(Kazunori HASE) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.5
This research was designed to investigate biomechanical aspects of the evolution based on the hypothesis of dynamic cooperative interactions between the locomotion pattern and the body shape in the evolution of human bipedal walking. The musculoskeletal model used in the computer simulation consisted of 12 rigid segments and 26 muscles. The nervous system was represented by 18 rhythmic pattern generators. The genetic algorithm was employed based on the natural selection theory to represent the evolutionary mechanism. Evolutionary strategy was assumed to minimize the cost function that is weighted sum of the energy consumption, the muscular fatigue and the load on the skeletal system. The simulation results showed that repeated manipulations of the genetic algorithm resulted in the change of body shape and locomotion pattern from those of chimpanzee to those of human. It was suggested that improving locomotive efficiency and the load on the musculoskeletal system are feasible factors driving the evolution of the human body shape and the bipedal locomotion pattern. The hypothetical evolution method employed in this study can be a new powerful tool for investigation of the evolution process.
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엄광문(Gwang-moon EOM),김철승(Chul-seung KIM),하세 카즈노리(Kazunori HASE) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.8
The purpose of this study is to generate cycling motion for FES (functional electrical stimulation) using knee muscles only. We investigated the possibility by simulation. The musculoskeletal model used in this simulation was simplified as 5-rigid links and 2 muscles (knee extensor and flexor). For the improvement of the present feedforward control in FES, we included feedback path in the control system. The control system was developed based on the biological neuronal system and was represented by three sub-systems. The first is a higher neuronal system that generates the motion command for each joint. The second is the lower neuronal system that divides the motion command to each muscle. And the third is a sensory feedback system corresponding to the somatic sensory system. Control system parameters were adjusted by a genetic algorithm (GA) based on the natural selection theory. GA searched the better parameters in terms of the cost function where the energy consumption, muscle force smoothness, and the cycling speed of each parameter set (individual) are evaluated. As a result, cycling was implemented using knee muscles only. The proposed control system based on the nervous system model worked well even with disturbances.
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김철승(Chul-seung Kim),엄광문(Gwang-moon Eom),하세 카즈노리(Kazunori Hase),강곤(Gon Kang) Korean Society for Precision Engineering 2005 한국정밀공학회지 Vol.22 No.6
The purpose of this work is to develop the FES controller that can cope with the muscle fatigue which is one of the most important problems of current FES (Functional Electrical Stimulation). The feasibility of the proposed FES controller was evaluated by simulation. We used a fitness function to describe the effect of muscle fatigue and recovery process. The FES control system was developed based on the biological neuronal system. Specifically, we used PD (Proportional and Derivative) and GC (Gravity Compensation) control, which was described by the neuronal feedback structure. It was possible to control of multiple joints and muscles by using the phase-based PD and GC control method and the static optimization. As a result, the proposed FES control system could maintain the cycling motion in spite of the muscle fatigue. It is expected that the proposed FES controller will play an important role in the rehabilitation of SCI patient.
ScienceON
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