園部 元康

ෆᐜ䠖
㟁ືᶵ䜢㥑ື※䛸䛩䜛㍺㏦ᶵჾ䛿䠈୍⯡ⓗ䛻⵳㟁䛾ၥ㢟
䜢ᢪ䛘䛶䛚䜚 䛭䛾ᙳ㡪䜢పῶ䛩䜛䛯䜑䛻䛿ప㏿䛷㉮⾜䛩䜛
䜢ᢪ䛘䛶䛚䜚䠈䛭䛾ᙳ㡪䜢పῶ䛩䜛䛯䜑䛻䛿ప㏿䛷㉮⾜䛩䜛
䛣䛸䛜ᮃ䜎䛧䛔䠊䝁䞁䝟䜽䝖䛺ప㏿㍺㏦ᶵჾ䛸䛧䛶䠈ᅗ䠍䛻♧
䛩䜘䛖䛺㟁ື䝇䜿䞊䝖䝪䞊䝗䛻╔┠䛧䠈஦ᴗᡤෆ䜔䝅䝵䝑䝢䞁
䜾䝰䞊䝹䠈✵ 䛺䛹䛾⛣ື䛻฼⏝䛷䛝䛺䛔䛛᳨ウ䛧䛶䛔䜛䠊
䛧䛛䛧䠈❧䛱஌䜚ᶵჾ䛾䛯䜑䠈ᦚ஌⪅䛜ືస䛩䜛䝪䞊䝗ୖ䛷
ᦚ஌⪅䛜 䝷䞁䝇䜢⥔ᣢ䛩䜛 䛸䛿㞴䛧
ᦚ஌⪅䛜䝞䝷䞁䝇䜢⥔ᣢ䛩䜛䛣䛸䛿㞴䛧䛔䠊䛭䛣䛷䠈䛺䜣䜙䛛
䛭 䛷䠈䛺䜣䜙䛛
䛾᪉ἲ䛷ᦚ஌⪅䛾ጼໃ䜢᥎ᐃ䛧䠈䛭䛾䝞䝷䞁䝇䜢ಖ䛴䜘䛖ᶵ
ჾ䛾ไᚚ䜢⾜䛖䛣䛸䜢┠ᣦ䛩䠊
ᮏ◊✲䛷䛿䠈ᦚ஌⪅䛾ጼໃ䛾᥎ᐃ䜢ᅗ㻞䛻♧䛩ᕥྑ䛾Ⲵ
㔜ィ 䛛䜙ᚓ䜙䜜䜛㔜ᚰ఩⨨䛻ᇶ䛵䛔䛶᥎ᐃ䛩䜛䛣䛸䜢┠
ᣦ䛩䠊䛭䛾䛯䜑䛻䛿䠈㐺ษ䛺ேయ䛾ᶵᵓ䝰䝕䝹䛸➽⏕ᡂ䝰
ᣦ䛩
䛭䛾䛯䜑䛻䛿䠈㐺ษ䛺ேయ䛾ᶵᵓ 䝕䝹䛸➽⏕ᡂ
䝕䝹䛜ᚲせ䛸䛺䜛䠊≉䛻䠈➽⏕ᡂ䛻䛿㻜㻚㻞⛊䛛䜙㻜㻚㻟⛊⛬ᗘ䛾
㐜ᘏ䛜ྵ䜎䜜䜛䛯䜑䠈䛣䛾㐜ᘏ⏕ᡂ䝯䜹䝙䝈䝮䜢᫂䜙䛛䛻䛩
䜛䛣䛸䛜᧯సᛶ䛾Ⰻ䛔䝇䜿䞊䝖䝪䞊䝗䛾㛤Ⓨ䛻䛿୙ྍḞ䛸䛺
䜛䠊ᮏ◊✲䛷䛿䠈ேయ䛾ᾘ㈝䜶䝛䝹䜼䞊䜢ᢚไ䛩䜛䛯䜑䛻
᭱㐺䛸䛺䜛䜘䛖㐜ᘏ᫬㛫䛾ㄪᩚ䛜䛺䛥䜜䛶䛔䜛䛾䛷䛿䛺䛔䛛
䛸௬ᐃ䛧䛶䠈ᅗ㻟䛾䜲䞁䝟䝹䝇ᛂ⟅ᐇ㦂䠈ᅗ㻠䛾䝇䝔䝑䝥ᛂ⟅
ᐇ㦂➼䜢㏻䛨䛶ேయ䛾᭱㐺䛺䝰䝕䝸䞁䜾䜢᳨ウ䛩䜛䠊
ᅗ1.Ⲵ㔜ィ ⿦⨨䜢ഛ䛘䛯㟁ື䝇䜿䞊䝖䝪䞊䝗
ᅗ2.ไస䛧䛯Ⲵ㔜ィ ⿦⨨
ศ㔝䠖▱⬟ᶵᲔᏛ䞉ᶵᲔ䝅䝇䝔䝮
Postture angle (deg)
Possture angle (deg)
0.02
0
í0.02
0
1
Time (s)
2
2
ᑓ㛛䠖ᶵᲔຊᏛ䠈䝞䜲䜸䝯䜹䝙䜽䝇
0
㻱㻙㼙㼍㼕㼘㻦 㼟㼛㼚㼛㼎㼑㻬㼠㼛㼗㼡㼟㼔㼕㼙㼍㻙㼡㻚㼍㼏㻚㼖㼜
㼀㼑㼘㻚 㻜㻤㻤㻙㻢㻡㻢㻙㻣㻟㻤㻞
í2
í4
0
2
4
Time (s)
ᅗ3. 䜲䞁䝟䝹䝇ᛂ⟅䛾⤖ᯝ ᅗ4 䝇䝔䝑䝥ᛂ⟅ᐇ㦂䛾⤖ᯝ
㻲㼍㼤㻦 㻜㻤㻤㻙㻢㻡㻢㻙㻥㻜㻤㻞
㻴㻼 㻦 㼔㼠㼠㼜㻦㻛㻛㼐㼥㼚㼍㼙㼕㼏㻝㻚㼙㼑㻚㼠㼛㼗㼡㼟㼔㼕㼙㼍㻙㼡㻚㼍㼏㻚㼖㼜㻛