Analysis of Effect of Motion Path on Leg Muscle Load and Evaluation of Device to Support Leg Motion During Robot Operation by Reducing Muscle Load

Abstract

Because the human arm and leg have a similar skeletal structure, it may be possible to use the leg to operate a robot by the master-slave method. However, operation by the leg with six degrees of freedom has two problems. First, people move their ankle with a curved motion despite intending to move it linearly. Second, it is a burden for the operator to suspend their legs in the air during operation. This study dealt with these problems. For the first problem, we hypothesized that one of the reasons was that the muscle load of a curved motion was smaller than that of a linear motion, and we quantitatively compared them by musculoskeletal analysis. The muscle loads of curved motions were 20% smaller in the anteroposterior direction, 3.1% to 23.8% smaller in the lateral direction, and 10% smaller in the vertical direction than linear motions, which showed that the hypothesis was consistent. Further, comparison of the analysis results with the results of a previous study suggested that subjects unconsciously tried to reduce the muscle load and to move closer to a linear line when they moved their ankle while consciously intending to make a linear motion. For the second problem, we developed two different prototypes of a leg support device. An experiment to evaluate the effectiveness of these devices showed that subjective exercise intensity of the tasks in the experiment using the devices was 40% or more less than that without the device, which proved the effectiveness of the devices.

Keywords

• Lower limb
• operation
• gesture
• musculoskeletal analysis
• gravity compensation