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Paper Abstract and Keywords
Presentation 2008-11-21 15:35
Estimation of the body center of mass based on the ground reaction force and the posture during standing up
Kozo Kawamura, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) MBE2008-68
Abstract (in Japanese) (See Japanese page) 
(in English) A movement of the body center of mass (COM) is important to evaluate stability and efficiency of human motion.The segmental kinematics method, ``averaged method,'' has been known as the method to estimate the COM.This method uses averaged body segment parameters, such as the mass and the center of mass of each body segment, and makes some estimation error due to the incorrect parameter values of body segments.In this study, we propose an estimation method of the parameter values concerning COM from ground reaction force and posture during standing up.In this method, the parameter values are determined by the equation of COM acceleration and position, and the COM position can be calculated from estimated parameter values and joint angle. We examined the effectiveness of the proposed method to estimate the parameter values through the measurement experiments of the standing up.In addition, we evaluated the estimation accuracy of the estimated COM positions by comparison with the positions of the center of pressure (COP) for 6 quiet stances.As the results, the measured acceleration of COM could be represented from the estimated 6 parameter values and measured posture. The errors between the estimated COM position and COP position in the proposed method were smaller than those in the averaged method, and they were less than 15 [mm] in most postures. These results suggest that the proposed method enables to estimate the COM position more accurately than the averaged method.
Keyword (in Japanese) (See Japanese page) 
(in English) Estimation of center of mass / Standing up / Ground reaction force / / / / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 314, MBE2008-68, pp. 25-30, Nov. 2008.
Paper # MBE2008-68 
Date of Issue 2008-11-14 (MBE) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee MBE  
Conference Date 2008-11-21 - 2008-11-21 
Place (in Japanese) (See Japanese page) 
Place (in English) Dept. Eng, Tohoku University 
Topics (in Japanese) (See Japanese page) 
Topics (in English) ME in general 
Paper Information
Registration To MBE 
Conference Code 2008-11-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Estimation of the body center of mass based on the ground reaction force and the posture during standing up 
Sub Title (in English)  
Keyword(1) Estimation of center of mass  
Keyword(2) Standing up  
Keyword(3) Ground reaction force  
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1st Author's Name Kozo Kawamura  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Takahiro Kagawa  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2008-11-21 15:35:00 
Presentation Time 25 minutes 
Registration for MBE 
Paper # MBE2008-68 
Volume (vol) vol.108 
Number (no) no.314 
Page pp.25-30 
#Pages 6 
Date of Issue 2008-11-14 (MBE) 

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