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1 General remarks pecial Issues No.3Measurement Technique for Ergonomics, ection 1-3 Measurement of Body Motion Motion Measurement by using Force Censor, by Faculty of cience and Engineering, Doshisha University 6M3D-FP 1 2M3D-FP

2 m BIG-MATHUGE- MAT 3 FDM3Zebris 4 HUGE-MAT bit 884 mm1156 mm Hz FDM3 3 2 BIG-MATHUGE- MAThttp:// sensor&p=7432&fnkey=product Fig. 2 Plantar pressure distribution plate by scanning type BIG-MAT, HUGE-MATNitta Corporation. 1 Fig. 1 Plantar pressure measurement equipment classification. 3 FDM3Zebris Medical GmbHhttp:// downloads/webgalerie/webgalerie_produkte/bildergalerie _fdm_e.php?navid=24 Fig. 3 Plantar pressure distribution plate by scanning type FDM3Zebris Medical GmbH. 244

3 4, No.15, 67-76, 2011 Fig. 4 Photoelastic apparatus for measuring the pressure points when seated and photoelastic fringe image on the contact plane m3.0 m HzPX100 Xsensor Technology 4 5 M. Arcan mm600 mm6 mm Force Plate, Force 5 a co.jp/pro/index/005_main.html Fig. 5 aforce plate by using strain gauge,bforce plate by using crystal piezo-electricity. Platform AMTI 5a 8 Kistler5b cm 2 m

4 100 Hz 400 Hz050 Hz 2 1cm mm95 mm200 g fujifilm.jp/business/material/prescale/prescalefilm/featur e.html Fig. 6 Prescale-film by ink coloring typefujifilm Corporation. 10 AC A C 6 1 F mm Hz7 246

5 medilogic insolemedilogic COP XsensForcehoe 3 University of TWENTEP. H. Veltik 9 13,14 Forcehoe Xsens mm1100 g M3D-FP 13 mm95 mm80 mm 350 g F- &fnkey=product Fig. 7 F-scan II insole type foot pressure measurement systemnitta Corporation. 9 University of TWENTE 13 Fig. 9 Experimental instrumented shoe with 6 degrees of freedom force and moment sensors under heel and forefoot coupled to inertial movement sensors University of TWENTE. 8 medilogic insole medilogic GmbHhttp:// Fig. 8 Medilogic insole type foot pressure measurement systemmedilogic GmbH. 10 M3D-FP Fig. 10 M3D mobile force plateteck-gihan Corporation. 247

6 3 CV M3D M3D M3D M3D4 M3D-FP M3D-FP M3D M3D M3D 1 Tab. 1 pecification of sensors. 11 M3Dhttp://www. tecgihan.co.jp/p7/p7_3.htm Fig. 11 Constitution of M3D system Teck-Gihan Corporation. 12 M3D-FP Fig. 12 Inside construction of M3D mobile force plate. 2 M3D Tab. 2 pecification of M3D components. 248

7 345 M3D-FP 2M3D-FPM3D-FP 3-2 G M3D-FP X Y Z13 M3D-FP 14 M3D-FP M3D-FP X Y Z13 F FX FY FZ T N3 Z X Y FxjFyjFzjj1234N FX F = FY FZ ( Fx1+ Fx2 Fx3 Fx4+ Fy1 Fy2 Fy3+ Fy4) 2 2 = ( Fx1+ Fx2+ Fx3 Fx4+ Fy1+ Fy2 Fy3 Fy4) 2 2 Fz1 + Fz2 + Fz3 + Fz4 1 M3D-FP3 M MX MY MZ T Nm3 MX M = MY MZ 2 ( Fz1 Fz2 + Fz3 + Fz4) 2 2 r = ( Fz1 Fz2 Fz3 + Fx4) 2 2 r ( Fx1 + Fx2 + Fx3 + Fx4) r r3 Cop CopX CopY CopZ T m CopX MY FZ Cop = CopY = MX FZ 3 CopZ 0 14M3D-FP2 M3D-FPToeM3D-FP Heel14 M3D-FP _Total F _Total M _Total Cop Z Y X 13 M3D-FP Fig. 13 ensor coordinate system of a M3D-FP. _Total _Total F = M = = _Total _Total _Total _Total _Total _Total FX FXToe+ FXHeel FY = FYToe+ FYHeel FZ FZToe+ FZ Heel MX MY MZ + + MX Toe MXHeel FZToe d MYToe+ MYHeel MZ Toe+ MZHeel + FX Toe d Fig. 14 Definition of total force coordinate system. _Total _Total MY FZ _Total _Total _Total Cop = MX FZ 6 0 dm2m3d-fp 249

8 3-3 M3D-FPOO X O Y O Z T LL X L Y L Z T M3D15 4M3D-FP M3D-FP 4M3D-FP M3D-FP L L 3-4 M3D-FP 16 M3D 17M3D 15 M3D-FP Fig. 15 Lower leg model with M3D system. 17 M3D-FP Fig. 17 Center of pressure: right foot. 18 Fig. 18 tick picture in walking straight. 16 M3D-FP Fig. 16 Ground reaction force: right foot. 19 M3D Fig. 19 Gait analysis system using M3D mobile force plate. 250

9 1818 M3D PC PC 621a 6 10 khz21 b22 PC a6b6 Fig. 21 aprototype of a six-axis force/moment sensor,b Placing surface of strain gauges and data logger. 20 Fig. 20 Trans-femoral amputee with a prosthetic limb Fig. 22 Attachment position of a six-axis force/moment sensor. 251

10 23 Fig. 23 Ground reaction forces in trans-femoral amputee with a prosthetic limb m 3 252

11 mmh 400 mml248 mmd 1 180Hz Fig. 25 6D force plate for sprit type treadmill Fig. 24 Human gait analysis system using sprit type treadmill and 3D virtual animation movie. 26 Haplog tecgihan.co.jp/p2.htm Fig. 26 Wearable force sensors HapLog. 253

12 HaplogHaptic kill Logger Haplog Fig. 27 Measurement principal of HapLog. 19 Haplog Fig. 28 Measured rehabilitation force vector and value. 254

13 1 Liu T, Inoue Y, et al: A Mobile Force Plate ystem and Its Application to Quantitative Evaluation of Normal and Pathological Gait, 2010 IEEE/AME International Conference on Advanced Intelligent MechatronicsAIM, , ,,, C, 78789, , BIG-MAT HUGE-MAT, Retrieved August 20, 2014, available from product 4 zebris Medical GmbH: Image Gallery - FDM ystem for stance and gait analysis, Retrieved August 20, 2014, available from downloads/webgalerie/webgalerie_produkte/bildergalerie _fdm_e.php?navid=24 5,,, 15, 67-76, Arcan M, Brull MA: A fundamental characteristic of the human body and foot, J. Biomech, 9, 453-7, , 1, A, 52480, , TF-4060, Retrieved August 20, 2014, available from p5/p5_1.htm 9, Retrieved August 20, 2014, available from index/005_main.html 10, Retrieved August 20, 2014, available from prescale/prescalefilm/feature.html 11 F-II, Retrieved August 20, 2014, available from co.jp/?post_type=sensor&p=7425&fnkey=product 12 Medilogic GmbH: medilogic ohle, Retrieved August 20, 2014, available from 13 chepers HM, Koopman HF, et al: Ambulatory assessment of ankle and foot dynamics, IEEE Trans. Biomed. Eng., 54 5, , Veltink PH, lycke P, et al: Three dimensional inertial sensing of foot movements for automatic tuning of a twochannel implantable drop-foot stimulator, Med. Eng. Phys., 251, 21-28, M3D, Retrieved August 20, 2014, available from p7/p7_3.htm 16,, 6, C, , , Makino Y, Tsujiuchi N, et al: Quantitative Evaluation of Unrestrained Human Gait on Change in Warking Velocity, Proceedings of IEEE EMB2014, Paper TB09.4, , HapLog,, 305, , ,, MP, 2014, J ,

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