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1 Vol.50, No.8, 1/ Qi An Muscle Synergy Analysis of Human Standing-up Motion in Different Seat Heights and Speeds Qi An, Yuki Ishikawa, Tetsuro Funato, Shinya Aoi, Hiroyuki Oka, Hiroshi Yamakawa, Atsushi Yamashita and Hajime Asama In order to understand human motor function, it is necessary to clarify how humans achieve adaptive motions regarding to external environment or their own purpose. This study analyzes human standing-up motion in different chair seat heights and motion speeds using muscle synergy analysis to find important modules to achieve the movement. Muscle synergy is determined from measured eight muscle activations (n = 10), and relationship between muscle synergy and body kinematics is clarified. As a result, invariant three muscle synergies were found in human standing-up motion regardless of different seat heights and motion speeds. On the other hand, amplitude and duration of time-varying activation of muscle synergies were properly adujusted to enviromental change. Moreover, it was observed that time-varying activations were strongly corresponded to characteristic kinematic event of standing-up motion. This result implies that humans can achieve the adaptive standing-up motion mainly by controlling time-varying activation of three muscle synergies. Key Words: Muscle Synergy, Standing-up Motion, Chair Seat Height, Motion Speed % Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo Hongo, Bunkyo-ku, Tokyo, , Japan Department of Mechanical Engineering and Intelligent Systems, Graduate School of Informatics and Engineering,The University of Electro-Communications Chofugaoka, Chofu, Tokyo , Japan Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University Kyoto daigaku-katsura, Nishikyo-ku, Kyoto , Japan Department of Joint Disease Research, 22nd Century Medical and Research Center, Graduate School of Medicine, The University of Tokyo Hongo, Bunkyo-ku, Tokyo ADL 1) 1 2) 3) 4) TR 0008/14/ c 2014 SICE

2 2 T. SICE Vol.50 No.8 August ) 5 6) 7) 8) 9) 10) 11) 12) 13) 14) (1) H h j w j h j(t) (4) m 1(t) m 1(1) m 1(T max) m 2(t) M = = , 2 m n(1) m n(t max) m n(t) w 11 w 1N W = (w 1 w N ) = , 3 w n1 w nn h 1(t) h 1(1) h 1(T max) h 2(t) H = = h N (1) h N (T max) h N (t) 1 n m i 1(c) 3 w 1,2,3 h 1,2,3 1(a) 1(b) 1(c) W H 15) M R k l Z < min(k, l) (5) W R k Z H R Z l f(w, H) = 1 2 M WH ) W H (8) W H M = WH, 1 M n W H M m i i(i = 1 n) (1 t T max) m i(t) ( (2)) W N w j(j=1 N) w j i w ij ( (3)) Fig. 1 Muscle Synergy Model (a) (b) (c)

3 W 6 H H 7 W W H W T WH = W T M, 6 HH T W T = HM T, 7 subject to :w ij 0, h i(t) 0. 8 Z R 2 (9) R 2 = 1 n i=1 T max t=1 (m i(t) m i(t)) 2 (m i(t) m i) 2, 9 m i(t) WH t i m i i i m i m i 2 1 N p 5 Tukey-Kramer 2. 2 (10) (10) s ij w i w j 2. 3 s ij = wi wj w i w j ) 1 Flexion Momentum 2 Momentum Transfer 3 Extension 4 Posture Stabilization ) (11) (11) T 1,2,3,4 2 a T 4 = a(t 1 + T 2 + T 3) (12) V x p 1 V x = Px(t + t) Px(t). 12 t (12) P x(t) t (1 t T max t) t P x(t + t) 2 p (13) V y p 4 (13) P y(t) t V y = 2. 4 Py(t + t) Py(t). 13 t 5 Normal Low High 3 Normal Slow Fast 3 18) 19) Initial Posture Fig. 2 Phase 1 Phase 2 Phase 3 Phase 4 Four Phases in Standing-up Motion

4 T. SICE Vol.50 No.8 August 2014 1 1 4 Tukey-Kramer p < 5 3.

4 4 T. SICE Vol.50 No.8 August Tukey-Kramer p < (a) (b) 2 8 TA GAS SOL RF VAS BFLH BFSH GMAX DL720 S&ME 1,000 Hz 10 Hz Hz 2 MVC MotionAnalysis 8 MAC3D HelenHayes Hz Nitta 64 Hz 10 Hz 25 Hz Normal Normal 0.2 m 4 Normal 0.2 m s ± ±5 m 77.1±8.5 kg Normal 140 Low 80 High 90 Slow 60 Fast 80 9±2 m a % t 5 s p 1,2,4 0.2 m/s, 5 N, m/s 1 1 Normal Slow Normal Fast Slow Fast 4. 2 GMAX VAS RF BFLH BFSH TA GAS SOL (a) Front (b) Back Vertical Fig. 3 Measured Muscle Fig. 4 Experiment Condition

5 (a) 5(b) 5(c) 5(d) 5(e) 1 R % W H 6(a), (c), (e) Normal Low High 6(b),(d),(f) 2 0 6(b),(d),(f) Normal Low High s 6(b) (d) (f) 6(b) 2 1 Normal Low High 6(d) (f) Table 1 Onset Time of Four Phases Phase2 Phase3 Phase4 Normal 6±0.13 s 3±0.24 s 1.72±8 s Low 1±8 s 2±0.13 s 1.86±1 s High 0.71±0.13 s 1.12±0.17 s 1.68±1 s Slow 1.67±7 s 2.06±7 s 4.28±1.32 s Fast 3±6 s 3±0.15 s 6±0.16 s 7(a),(c),(e) Normal Slow Fast 7(b),(d),(f) Normal Slow Fast 7(b),(d),(f) s Normal Low Normal High Low High Normal Slow Normal Fast Slow Normal Fig. 5 Number of Muscle Synergies (a) Normal Number of Muscle Synergies (b) Low Number of Muscle Synergies (c) High Number of Muscle Synergy (d) Slow Number of Muscle Synergies (e) Fast Determination of Number of Muscle Synergies

6 6 T. SICE Vol.50 No.8 August 2014 Normal Low High Phase 1 Phase 2 Normal Low High (a) Activation Pattern of Muscle Synergy (b) s of Muscle Synergy1 Phase 3 (c) Activation Pattern of Muscle Synergy (d) s of Muscle Synergy2 Phase (e) Activation Pattern of Muscle Synergy3 (f) s of Muscle Synergy3 Fig. 6 Results of Muscle Synergies for Different Seat Heights Table 2 Similarity among Muscle Synergies Synergy 1 Synergy 2 Synergy 3 Different Heights 0.71±6 0.75±6 3±0 Different Speeds 0.72±3 0.76±4 0.78± % 1 TA VAS 2 VAS BFLH BFSH 3 GAS SOL GAS SOL s ,3,4 High Normal Low 1 TA 7) Low Normal 2 Low

7 Normal Slow Fast Phase 1 Phase 2 Normal Slow Fast (a) Activation Pattern of Muscle Synergy (b) s of Muscle Synergy1 Phase 3 (c) Activation Pattern of Muscle Synergy (d) s of Muscle Synergy2 Phase (e) Activation Pattern of Muscle Synergy3 (f) s of Muscle Synergy3 Fig. 7 Results of Muscle Synergies for Different Speeds 60% 35% 40-50% 11) Normal 9±2m Low 40% -0.2m 20) )

8 8 T. SICE Vol.50 No.8 August ) Stabilization Momentum Transfer 2 Hybrid 3 3 B JST RISTEX 1 Andersen-Ranberg, Christensen, Jeune, Skytthe, Vasegaard, and Vaupel, Declining Physical Abilities with Age: a Cross-sectional Study of Older Twins and Centenarians in Denmark, Age and Ageing, 28, (1999) 2 Chugo, Kawabata, Okamoto, Kaetsu, Asama, Miyake, and Kosuge, Force Assistance System for Standingup Motion, Industrial Robot: An International Journal, 34, (2007) 3,,,,, 35, (2001) 4 Sale and MacDougall, Specificity in Strength Training; a Review for the Coach and Athlete, Canadian Journal of Applied Sports Sciences, 6, 87-92(1981) 5 Bernstein, The Co-ordination and Regulation of Movement, Pergamon, Oxford(1967) 6 Ivanenko, Poppele, and Lacquaniti, Five Basic Muscle Activation Patterns Account for Muscle Activity during Human Locomotion, Journal of Physiology, 556, (2004) 7 Hughes MA, Weiner DK, Schenkman ML, Long RM, and Studenski SA, Chair Rise Strategies in the Elderly, Clinical Biomechanics, 9, (1994) 8 Schenkman, Riley, and Pieper, Sit to Stand from Progressively Lower Seat Heights - Alternations in Angular Velocities, Clinical Biomechanics, 11, (1996) 9 Rodosky, Andriacchi, and Andersson, The Influence of Chair Height on Lower Limb Mechanics during Rising, Journal of Orthopaedic Research, 7, (2005) 10 Su, Lai, and Hong, Rising from Chair after Total Knee Arthroplasty, Clinical Biomechanics, 13, (1998) 11 Arborelius, Wretenberg, and Lindberg, The Effects of Armrests and High Seat Heights on Lower-limb Joint Load and Muscular Activity during Sitting and Rising, Ergonomics, 35, (1992) 12 Pai and Rogers, Control of Body Mass Transfer as a Function of Speed of Ascent in Sit-to-stand, Medicine and Science in Sports and Exercise, 22, (1990) 13 Vander Linden, Brunt, and McCulloch, Variant and Invariant Characteristics of the Sit-to-stand Task in Healthy Elderly Adults, Archives of Physical Medicine and Rehabilitation, 75, (1994) 14 Hanke, Pai, and Rogers, Reliability of Measurements of Body Center-of-mass Momentum During Sit-to-stand in Healthy Adults, Physical Therapy, 75, (1995) 15 Lee and Seun, Learning the Parts of Objects by Non-Negative Matrix Factorization, Nature, 401, (1999) 16 Berry, Browne, Langville, Pauca, and Plemmons, Algorithms and Applications for Approximate Nonnegative Matrix Factorization, Computational Statistics and Data Analysis, 52, (2006) 17 Schenkman, Berger, Patrick, Mann, and Hodge, Wholebody Movements during Rising to Standing from Sitting, Physical Therapy, 70, (1990) 18 Roebroeck, Doorenbosch, Harlaar, Jacobs, and Lankhorst, Biomechanics and Muscular Activity during Sit-to-stand Transfer, Clinical Biomechanics, 9, (1994) 19 France, Thierry, Ines, and Didier, A Kinematic Comparison between Elderly and Young Subjects Standing Up from and Sitting Down in a Chair, Age and Aging, 27, (1998) 20 Nakamura, Yamane, Fujita, and Suzuki, Somatosensory Computation for Man-Machine Interface From Motion- Capture Data and Musculoskeletal Human Model, IEEE Transaction on Robotics, 21, 58-66(2005) 21 Hughes, Weiner, Schenkman, Long, and Studenski, Chair Rise Strategies in the Elderly, Clinical Biomechanics, 9, (1994)

9 Qi AN DC1 IEEE IEEE, ISB , 2012, 2013,.. IEEE, COE 07 4 IEEE

Web Stamps 96 KJ Stamps Web Vol 8, No 1, 2004

Web Stamps 96 KJ Stamps Web Vol 8, No 1, 2004 The Journal of the Japan Academy of Nursing Administration and Policies Vol 8, No 1, pp 43 _ 57, 2004 The Literature Review of the Japanese Nurses Job Satisfaction Research Which the Stamps-Ozaki Scale