Statistical Human Body Shape Model including Elderly People.

In this study, we present a human body shape statistical model including elderly people, which is constructed using principal component analysis (PCA) on 3D body scan data of approximately 130 people. As a pre-process step, a template human body mesh model is fitted to 3D scan data using a coarse-to-fine surface registration technique based on a conformal deformation method, in order to establish correspondences between the scans of different subjects possibly in different poses. To change body style by a small set of parameters, such as "age", "weight" and "height" or the easily measurable anthropometric parameters like "shoulder width", the linear transformations between these attributes and the first 10 principal component scores are obtained. We design a simple user interface to use this deformation model to generate different body styles easily. As a result, we were able to produce and show body styles capturing the characteristics of elderly people whose shoulders fell and back bent. Finally, as an application, we used our deformation method to generate different body types, performed forward dynamics simulations in an assistive device setting and visualized the differences in contact pressure distributions due to body shape changes.

Risk estimation for intervertebral disc pressure through musculoskeletal joint reaction force simulation.

This research proposes a novel method that evaluates joint reaction forces by motion analysis using a musculoskeletal model. While general muscle tension estimations minimize the sum of the muscle tensions, the proposed method utilizes the joint reaction forces themselves in the objective function of the optimization problem in addition to conventional method. This method can estimate a pattern of the muscle tensions that maximizes or minimizes a specific joint force. As a typical outcome, the proposed method allows evaluating intervertebral disc compressive force caused by co-contraction of muscles while avoiding risk underestimation. We analyzed the actual lifting motion as an example and confirmed that the method can estimate the muscle tension distribution under different tension conditions.

Simulation-based design for robotic care device: Optimizing trajectory of transfer support robot.

This paper presents a framework of simulation-based design for robotic care devices developed to reduce the burden of caregiver and care receivers. First, physical interaction between the user and device is quantitatively estimated by using a digital human simulator. Then we introduce a method for optimizing the design parameters according to given evaluation criteria. An example of trajectory optimization of transfer support robot is provided to demonstrate the effectiveness of the proposed method.

Lumbar load estimation using a musculoskeletal model in consideration of vertebral body displacement: Lumbar load simulation under static conditions.

In this study, we propose an estimation model of lumbar load, which is a factor in lumbar disorders. Our proposed method uses a musculoskeletal model with elastic elements between the vertebral bodies, and simulates the inter- vertebral disk pressure and the displacement of the vertebral bodies simultaneously.

Lumbar joint torque estimation based on simplified motion measurement using multiple inertial sensors.

We estimate lumbar torque based on motion measurement using only three inertial sensors. First, human motion is measured by a 6-axis motion tracking device that combines a 3-axis accelerometer and a 3-axis gyroscope placed on the shank, thigh, and back. Next, the lumbar joint torque during the motion is estimated by kinematic musculoskeletal simulation. The conventional method for estimating joint torque uses full body motion data measured by an optical motion capture system. However, in this research, joint torque is estimated by using only three link angles of the body, thigh, and shank. The utility of our method was verified by experiments. We measured motion of bendung knee and waist simultaneously. As the result, we were able to estimate the lumbar joint torque from measured motion.

Postural stabilization by trunk tightening force generated by passive power-assist device.

We are developing a passive power-assist supporter called Smart Suit Lite, which is a compact and lightweight power-assist device that utilizes the restoring force of elastic belts. Smart Suit Lite is designed not only to support muscles but also to stabilize the torso similarly to a corset. However, because a corset is always tight around the waist, negative effects caused by long-term use has been pointed out. In contrast, the tightening force generated by Smart Suit Lite increases only when the wearer adopts a posture corresponding to higher load on the low back. In this research, we performed two basic experiments to evaluate the static balance ability of wearers. As a result, the standard deviation of the lumbar angle decreased by 32.1% on average in wearers with low stability.