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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)  

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DOI： 10.1109/TNSRE.2023.3290320

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DOI： 10.1177/1754337120904260

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DOI： 10.1007/s12283-022-00392-3

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DOI： 10.1080/10255842.2022.2119384

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Informa UK Limited  

DOI： 10.1080/14763141.2021.1959946

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The ability to sustain steady straight-ahead walking is one goal of gait rehabilitation for individuals with unilateral above-knee (UAK) amputation. Despite the morphological and musculoskeletal asymmetry resulting from unilateral limb loss, the mediolateral ground-reaction-impulse (GRI) should be counterbalanced between the affected and unaffected limbs during straight-ahead walking. Therefore, we investigated the strategies of mediolateral ground-reaction-force (GRF) generation adopted by UAK prosthesis users walking along a straight path. GRFs of 15 participants with UAK amputation were measured during straight-ahead walking. Then, the mediolateral GRI, stance time, and mean mediolateral GRF during the stance phase of the affected and unaffected limbs were compared. To better understand the GRF generation strategy, statistical-parametric-mapping (SPM) was applied to assess the phase-dependent difference of the mediolateral GRFs between two limbs. The results showed that UAK prosthesis users can achieve symmetric mediolateral GRI during straight-ahead walking by adopting an asymmetric gait strategy: shorter stance time and higher mean mediolateral GRF over the stance phase for the affected than for the unaffected limb. In addition, the analysis using SPM revealed that the affected limb generates a higher mean medial GRF component than the unaffected limb, especially during the single-support phase. Thus, a higher medial GRF during the single-support phase of the affected limb may allow UAK prosthesis users to achieve mediolateral GRI that are similar to those of the unaffected limb. Further insights on these mechanics may serve as guidelines on the improved design of prosthetic devices and the rehabilitation needs of UAK prosthesis users.

DOI： 10.1016/j.jbiomech.2020.110201

PubMed

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Publishing type：Research paper (scientific journal)  

DOI： 10.3390/proceedings2020049111

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

<p>In order to improve comfort in soaking in the bathwater, the relationship between the biomechanical load and the bathtub shape has to be clarified. For this purpose, many soaking experiments had to be conducted since it was necessary to measure the reaction forces acting on a human from the bathtub experimentally. The objective of this study was to construct an algorithm to estimate reaction forces from a bathtub in order to calculate joint torque as biomechanical loads without experiments for given bathtub shapes and soaking postures. This algorithm calculates distribution of reaction forces which minimizes weighted summation of i) sum of squares of reaction forces, ii) joint torques of hip and knee joints and iii) friction force on the back, considering gravity, buoyancy and passive elastic joint torque. The weighting coefficients were expressed as a function of bathing posture including parameters determined for each person to reflect influence of differences among the individual. In order to examine this algorithm, an experiment to obtain the bathing posture and reaction forces for 10 participants and 24 posture conditions was conducted. It was found that the estimated reaction forces were consistent well with the measured values.</p>

DOI： 10.1299/mej.17-00243

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Language：English   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：SAGE Publications  

DOI： 10.1177/1754337119838395

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media {LLC}  

DOI： 10.1007/s12283-019-0297-2

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Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Physical Education, Health, and Sport Sciences  

DOI： 10.5432/jjpehss.17051

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.jbiomech.2018.05.027

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmebio.2018.30.2D16

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

There are many studies about swimming by kinematic and partial kinetic analysis. In order to obtain muscle activity during swimming, the experiments using the electromyogram were conducted as well. However, measurable muscles are limited in this experiment. And there are few musculoskeletal analysis of swimming, since it is difficult to compute the fluid force acting on the whole body of a swimmer. The objectives of this study were to construct the method of musculoskeletal simulation from swimming motion capture data, and analyze muscle activity. First, swimming motion capture data was transformed into body geometry data and swimming motion (absolute angles of segments) of SWUM using Blender. In SWUM, fluid forces of each segments were calculated. Then, swimming motion of SWUM was transformed into joints angles of AnyBody Modeling System using MATLAB. Finally, muscle activity of the whole body was calculated using AnyBody inputting the swimming motion and fluid forces. From the example of breaststroke, it was found that all transformations except for 2 DOF joints were conducted successfully.

DOI： 10.1299/jsmeshd.2017.a-35

CiNii Research

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

<p>In order to improve comfort in soaking in the bathwater, the relationship between the biomechanical load and the bathtub shape has to be clarified. For this purpose, many soaking experiments had to be conducted since it was necessary to measure the reaction forces acting on a human from the bathtub experimentally. The objective of this study was to construct an algorithm to estimate reaction forces from a bathtub in order to calculate joint torque as biomechanical loads without experiments for given bathtub shapes and soaking postures. This algorithm calculates distribution of reaction forces which minimizes weighted summation of i) sum of squares of reaction forces, ii) joint torques of hip and knee joints and iii) friction force on the back, considering gravity, buoyancy and passive elastic joint torque. The weighting coefficients were expressed as a function of bathing posture including parameters determined for each person to reflect influence of differences among the individual. In order to examine this algorithm, an experiment to obtain the bathing posture and reaction forces for 10 participants and 24 posture conditions was conducted. It was found that the estimated reaction forces were consistent well with the measured values.</p>

DOI： 10.1299/mej.17-00243

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer London  

DOI： 10.1007/s12283-016-0222-x

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

<p>The objective of this study was to propose a CPG network which can generate the swimming motion of the crawl stroke. First, the CPG network for legs performing a flutter kick was constructed by connecting the neural oscillators for the leg joints. The flutter kick motion was successfully generated by the proposed CPG network. The propulsion by the generated flutter kick motion was confirmed by the simulation of the swimming movement. Next, the CPG network for both the arms and legs were constructed, in which the neural oscillator for the arms initiated the trigger signal to start the prescribed stroke motion. By changing the intrinsic cycle of the neural oscillators for the legs, both six- and two-beat crawls could be realized. It was also found that a stable region with respect to the relationship between the intrinsic cycles of the neural oscillators for the arms and legs certainly existed for the six-beat crawl, although the intrinsic cycles of the arms were three times longer than those of the legs in this case. The propulsion by the generated swimming motion was confirmed by the simulation of the swimming movement both for the six- and two-beat crawls. Finally, the roll angle of the swimmer was fed back into the CPG network in order to restore the balance in the roll direction. Restoring the balance in the roll direction was successfully realized by the proposed feedback algorithm. The resultant motion showed a complicated behavior, such as skipping strokes.</p>

DOI： 10.1299/mej.16-00279

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Language：English   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

<p>The swimming humanoid robot called SWUMANOID has been developed for research purpose. To date, the front crawl, the breaststroke, and the butterfly stroke have been realized by this robot. However, the backstroke has not been realized yet because of several problems. The first problem is the communication problem during an experiment. The second is that the motion of backstroke which adapted to SWUMANOID' DOFs has not been created. In this research, the creation of backstroke motion adapted to SWUMANOID is discussed. The swimming human simulation model SWUM was employed as a tool to obtain the swimming animation as well as the swimming speed and the straightness of swimming. Finally, the experimental plan was explained briefly in order to conduct an experiment in the future.</p>

DOI： 10.1299/jsmermd.2017.2A2-D05

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ELSEVIER SCI LTD  

We aimed to develop a new method for evaluating the drag in front-crawl swimming at various velocities and at full stroke. In this study, we introduce the basic principle and apparatus for the new method, which estimates the drag in swimming using measured values of residual thrust (MRT). Furthermore, we applied the MRT to evaluate the active drag (Da) and compared it with the passive drag (Dp) measured for the same swimmers. Da was estimated in five-stages for velocities ranging from 1.0 to 1.4ms(-1); Dp was measured at flow velocities ranging from 0.9 to 1.5ms(-1) at intervals of 0.1ms(-1). The variability in the values of Da at MRT was also investigated for two swimmers. According to the results, Da (Da=32.3 v(3.3), N=30, R(2)=0.90) was larger than Dp (Dp=23.5 v(2.0), N=42, R(2)=0.89) and the variability in Da for the two swimmers was 6.5% and 3.0%. MRT can be used to evaluate Da at various velocities and is special in that it can be applied to various swimming styles. Therefore, the evaluation of drag in swimming using MRT is expected to play a role in establishing the fundamental data for swimming.

DOI： 10.1016/j.jbiomech.2017.01.037

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer London  

DOI： 10.1007/s12283-016-0218-6

Scopus

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DOI： 10.1016/j.jbiomech.2017.01.037

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DOI： 10.1007/s12283-016-0222-x

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmeshd.2016.a-17

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.proeng.2016.06.255

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-016-0049-z

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmemag.119.1172_388

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/02640414.2015.1123284

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jbse.15-00375

Scopus

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publisher：一般社団法人日本機械学会  

CiNii Books

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer-Verlag London Ltd  

DOI： 10.1007/s12283-015-0174-6

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.proeng.2015.07.235

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to clarify the optimized lower limb motion during throwing in water polo by the simulation. The flexion/extension angles of the hip joint around the ball release were optimized in order to maximize the ball velocity, which corresponded to the hand velocity at the ball release, under the constraint in terms of the hip joint torque and power. The following findings were obtained from the results of optimization: The ball velocity in the case of original joint torque and power limit was 20.8 m/s. The increase in velocity from that of the original motion was 7%. In the case of doubled joint torque and power limits, the increase reached 15%. The characteristic motion in the optimized cases was the kicking forward (flexing) of both lower limbs just before the ball release. The preceding extending motion that was needed to increase the flexing velocity was also found. The increase in the ball velocity in the optimized motions can be explained as the sum of two components. One is the velocity relative to the center of mass of the whole rigid body, and the other is the absolute movement of the rigid body itself. With respect to the relative velocity, the flex

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publisher：バイオメカニズム学会  

DOI： 10.3951/sobim.39.25

CiNii Books

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Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.33.2

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jbse.14-00035

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to develop a comprehensive dynamic model of the paddler, paddle and hull for a simulation analysis of the paddling motion in a single kayak. In the development of the model, a similar simulation model, not for the kayak, but for human swimming was utilized. The paddler, paddle and hull in the model were connected by means of virtual springs and dampers. The geometries of the paddler, paddle and hull were acquired based on the experiments that measured them. The joint motion of the paddler was measured by means of motion analysis as well. By inputting the acquired data, simulation of the paddling motion was conducted. From the results, it was confirmed that the paddler, paddle and the hull were successfully connected by the virtual springs and dampers. In the simulation, the averaged velocity of the hull in the propulsive direction was 3.4 m/s, which was 11% lower than the actual value of 3.8 m/s.

CiNii Books

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.proeng.2014.06.121

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1177/1754337114537620

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jrm.2014.p0265

Scopus

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s12283-013-0127-x

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jbse.2014jbse0001

Scopus

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.jbiomech.2013.09.028

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.jbiomech.2014.01.046

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Language：Japanese   Publisher：Japan Science Support Foundation  

DOI： 10.5363/tits.19.10_40

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to develop the method of musculoskeletal simulation for a swimmer attaching a competitive swimwear. For the simulation, the body geometry and joint motion were put into the swimming human simulation model SWUM in order to calculate the distributed fluid forces acting on the whole swimmer's body. The distributed fluid forces were put into the musculoskeletal model. In addition to the fluid forces, the forces induced by the tension of the swimwear were also considered. The distribution of the forces acting on the swimmer was calculated from the stress distribution of the swimwear. Since the swimwear targeted in the present study was a half spat type, the forces by the swimwear acted on three segments; the right and left thighs, and the pelvis. Therefore, the ratio of one distributed force to these three segments had to be determined. In order to determine this ratio, the deformation of the swimwear measured in an experiment was used. As an example, the simulation for the crawl stroke was conducted. The results showed the time-varying effect of the swimwear on the muscle activity during swimming.

CiNii Books

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

A new design method for designing competitive swimsuits using 3-dimensional stress calculation was investigated in this paper. An anisotropic hyperelastic modeling of swimwear fabric was developed from the results of tensile loading tests. 3-dimensional stress distributions of swimwear in swimming motions were calculated by the anisotropic hyperelastic model. The displacement fields of 3D-CG human model which reproduce swimming motion of human body were applied to stress calculation. For the material modeling, the uniaxial cyclic tensile loading tests were conducted to obtain the mechanical characteristics of competitive swimsuits. From loading test results, the mechanical characteristics of swimwear fabrics show anisotropy and the stiffness of the fabric shows hardening along with stretching. The cyclic tensile loading test results show stiffness reduction which depended on the maximum deformation. To take the anisotropy and stress reduction into account for the material modeling, a stress softening model for anisotropic hyperelastic model using stiffness ratio of warp or weft was proposed. In this paper, 3-dimensional stress distributions of swimwear were calculated by the proposed anisotropic hyperelastic model. A polygonal model of the swimwear was prepared and deformation of swimwear was adapted to the skin of 3D-CG human model in swimming motions. From the calculated results, stress distributions were possible to be visualized on the 3D-CG swimwear model.

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

DOI： 10.1109/URAI.2013.6677478

Scopus

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.humov.2012.11.009

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.proeng.2013.07.070

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.proeng.2013.07.069

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Elsevier Ltd  

DOI： 10.1016/j.proeng.2013.07.071

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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DOI： 10.1299/jbse.8.152

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DOI： 10.1299/jbse.8.180

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DOI： 10.1016/j.jbiomech.2013.05.006

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Society of Aero Aqua Bio-mechanisms  

In this study, the swimming humanoid robot SWUMANOID for research of human swimming was developed. It was half the size of a real human and had the same body proportions and appearance; mass distribution was considered, as well. It was actuated by 20 motors, which were waterproofed and compactly designed. Swimming motions were determined based on human swimming movements. To realize the swimming arm stroke, a joint imitating the human's scapular retraction was installed and the methodology to realize the swimming motion with that joint was established. Finally, the efficiency of the design was validated by simulation and representatively, the crawl stroke was successfully realized in the water tank.

DOI： 10.5226/jabmech.3.109

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Society of Aero Aqua Bio-mechanisms  

The objective of this study was to realize the free swimming of the crawl stroke with the previously developed swimming humanoid robot. The upper body of the robot was remodeled to fit a free swimming test. The developed robot was simulated to raise feasibility of the crawl stroke. Through the simulation, two improved models were proposed. In the experiment, the swimming humanoid robot was fitted to the two simulation models and both realized the crawl stroke successfully. The measured roll angle was about ± 60 degrees and the swimming speed was between 0.2 m/s and 0.24 m/s.

DOI： 10.5226/jabmech.3.118

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.8.79

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Language：English   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Society of Aero Aqua Bio-mechanisms  

The simulation method for synchronized swimming was developed by extending the swimming human simulation model 'SWUM.' In order to acquire the input data for the simulation, an experiment using subject swimmers was carried out. Using the acquired input data, the simulation reproducing the experiment was conducted. The simulated results were compared with the experimental ones and the sufficient validity of the simulation method was confirmed. In addition, parameter studies about timing of motion among the swimmers were conducted. It was found that the jumping height became maximum (0.7m larger than original) when the upper swimmer's motion was 0.07s earlier.

DOI： 10.5226/jabmech.3.51

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to clarify the effects of men's swimsuits on swimming position and muscle activity of body trunk in gliding motion. For this objective, a swimming experiment to measure electromyogram and gliding position in sagittal plane simultaneously was conducted for 3 types of men's swimsuit (A, B and C). Next, we compared experimental results one-on-one between the swimsuits by ANOVA. The results of the experiment and ANOVA showed that in wearing Swimsuit C, compared to Swimsuits A and B, hip became lower to shoulder (p<0.05), the hip joint became more extended (p<0.05), and the muscle activity of ES (Erector Spinae) and drag coefficient had tendency to decrease. In addition, we established a new index for the effect of body trunk support, which corresponds to the muscle activity of ES considering the change in the hip joint angle. We confirmed statistically that Swimsuit C had effects of extending hip joint and/or reducing the muscle activity of ES (p<0.05). The reason for this was considered to be that the Swimsuit C helped the hip extensor muscles.

DOI： 10.1299/kikaic.78.3665

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publisher：東京電機大学出版局  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Aero Aqua Bio-mechanisms  

The simulation method for synchronized swimming was developed by extending the swimming human simulation model 'SWUM.' In order to acquire the input data for the simulation, an experiment using subject swimmers was carried out. Using the acquired input data, the simulation reproducing the experiment was conducted. The simulated results were compared with the experimental ones and the sufficient validity of the simulation method was confirmed. In addition, parameter studies about timing of motion among the swimmers were conducted. It was found that the jumping height became maximum (0.7m larger than original) when the upper swimmer's motion was 0.07s earlier.

DOI： 10.5226/jabmech.3.51

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Language：English   Publishing type：Research paper (international conference proceedings)  

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DOI： 10.1016/j.proeng.2012.04.125

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to clarify the unsteady characteristics of the fluid force acting on limbs during swimming. For this objective, an underwater robot arm, which has five degrees-of-freedom in order to perform the various complicated limb motions during swimming, was developed. In the previous study, an experiment to measure the unsteady fluid force was conducted for four swimming strokes of the upper and lower limbs. In this paper, the unsteady fluid force model was firstly formulated. Second, the simulation of experimental conditions was conducted. Two fluid force coefficients, which are the parameters in the fluid force model, were identified using optimizing calculation, so that the discrepancies of the forces and moments between the experiment and simulation were minimized. In addition, fluid force models which are dependant only on the limbs' shapes were determined. Good agreement between the experiment and simulation with the determined fluid force model indicated the validity of the determined model. The identified fluid model will be useful for mechanical analyses of various swimming motions in future studies.

DOI： 10.1299/jfst.7.114

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to clarify the unsteady characteristics of the fluid forces acting on limbs during swimming. For this objective, an underwater robot arm was developed in this paper. The robot arm has five degrees-of-freedom in order to perform the various complicated limb motions during swimming. In addition, by changing the hand replica into the foot one, the robot also can perform the lower limb motions. The joint torques and the resultant thrust can be measured by the force sensors attached to the robot. In a circulating water tank, an experiment to measure the fluid forces was conducted for four swimming strokes of the upper and lower limbs. From the experiment, it was found that even the slight difference of the fluid forces between slightly different swimming motions can be quantified by the developed experimental system. In addition, it was suggested that 'nipping' the water by both lower limbs during the kick of the breaststroke almost does not affect thrust generation. The developed experimental system with the robot arm is useful not only for measuring the unsteady fluid forces, but also for flow visualization in future studies.

DOI： 10.1299/jfst.7.100

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Language：English   Publishing type：Research paper (conference, symposium, etc.)  

DOI： 10.1109/BioRob.2012.6290732

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Language：Japanese  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.7.102

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.7.211

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The objectives of this study were to measure the unsteady fluid force acting on the trunk of a swimmer using the 'swimmer mannequin robot' and to model the fluid forces based on the formulation of the swimming human simulation model SWUM, which was developed by the authors' group. The swimmer mannequin robot consisted of a swimmer mannequin and a driving mechanism. The scale of the swimmer mannequin was 1/2 (half scale) and the three-dimensional shape of an athlete swimmer taking the gliding position was reproduced in detail. The driving mechanism could move the mannequin in the pitching, heaving and rolling motions. Using the swimmer mannequin robot, the trunk motions of four strokes (crawl, breast, back and butterfly) were reproduced, and the unsteady fluid forces acting on the mannequin were measured by the dynamometers installed in the robot. On the other hand, the swimmer mannequin was modeled using the swimming human simulation model SWUM. The fluid force coefficients in the model were identified so that the simulated fluid forces became as consistent as possible with the experimental ones for each stroke case. The identified coefficients were then unified into ones which can be used for all cases. It was found that the precision of the model almost did not decrease as a result of the unification. It was also found that the overall performance of the simulation using the determined fluid force coefficients to predict the time variation of the fluid forces was satisfactory.

DOI： 10.1299/jfst.7.11

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Society of Sciences in Swimming and Water Exercise  

During shooting motion in water polo, the shooter is subjected to the fluid force. Therefore, through the use of the fluid force generated by moving upper limb and lower limb, it is important to keep own balance and deliver enough power to the ball. If we can analyze the dynamics of the shooting motion considering the fluid force and the interaction between the shooter and the ball, findings to increase the ball speed will be found out. The objective of this study was to develop the simulation model of shooting motion in water polo. For the objective, we constructed the simulation model and conducted experiment to obtain the data of shooting motion. We conducted a simulation by inputting experimental data into the simulation model and validated the model. As the result, this model was found to be effective.

DOI： 10.2479/swex.14.7

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.6.222

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to investigate the stability during a skydiving freefall, in which the diver has to take various body positions in order to control precisely their distance, velocity, and direction relative to the other divers for group performance. For this objective, the state equation for a simple elliptic cylinder model was initially derived, considering its equations of motion and fluid force characteristics. Next, using the form of the state equation derived for the elliptic cylinder and input/output data obtained from the developed simulation method for the body behavior of the skydiver, the state equations of the skydiver were identified for various body positions. Finally, roots of the state equations were obtained to investigate the stability. As a result, the causes of instability such as the spin and spiral phenomena were clarified as an unstable natural modes, and the stable limit of the body position was obtained as a value of the parameter which is related to the arch magnitude of the diver's body.

DOI： 10.1299/jfst.6.264

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Language：Japanese   Publisher：株式会社メジカルビュー社  

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DOI： 10.1299/jbse.6.15

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to develop a simulation method to analyze the body behavior and to clarify the most stable body position while freefalling during a skydive. Using the simulation method, we conducted an optimizing calculation to maximize an objective function with respect to the stability in the freefall. It was found that the most stable position became an arched one. In order to clarify the reason why the most stable position became arched, optimization with respect to a simple shaped object consisting of 20 cylinders was conducted. Then the angle to maximize the restoring moment for each cylinder element was analytically calculated and compared with the optimized angle. From the results, we conclude that the most stable position becomes arched mainly since the restoring moment for each individual part is maximized at that angle. We also conclude that the magnitude of the arch in the most stable position is determined by the ratio of the normal and tangential drag coefficients.

DOI： 10.1299/jfst.6.154

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Society of Biomechanisms  

The objective of this study is to experimentally validate the optimal walking form in water for muscle training, which wasproposed in the previous study. The electromyogram and motion of the lower extremity, as well as the ground reaction force, were measured for five subjects walking in various forms. From the motion analysis, it was confirmed that the subjects walked in the same form as the simulation analysis in the previous study. It was also conformed that the difference between GRF of normal form and that of proposed forms was small. Finally, the validity of the proposed form was verified since the value of electromyogram of the proposed form was significantly larger than that of other forms.

DOI： 10.3951/sobim.35.28

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Language：Japanese   Publisher：Japanese Society of Sciences in Swimming and Water Exercise  

During shooting motion in water polo, the shooter is subjected to the fluid force. Therefore, through the use of the fluid force generated by moving upper limb and lower limb, it is important to keep own balance and deliver enough power to the ball. If we can analyze the dynamics of the shooting motion considering the fluid force and the interaction between the shooter and the ball, findings to increase the ball speed will be found out. The objective of this study was to develop the simulation model of shooting motion in water polo. For the objective, we constructed the simulation model and conducted experiment to obtain the data of shooting motion. We conducted a simulation by inputting experimental data into the simulation model and validated the model. As the result, this model was found to be effective.

DOI： 10.2479/swex.14.7

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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DOI： 10.4028/www.scientific.net/AMM.43.453

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DOI： 10.1299/jbse.5.408

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Society of Aero Aqua Bio-mechanisms  

The objectives are to make the supporting mechanism of the tail flukes of dolphins clear and to obtain the useful knowledge for developing an artificial fin. The inner structure of the flukes was investigated by dissection of the flukes. The mechanical properties of a ligamentous layer and a dense connective tissue composing the flukes are investigated by the tensile test and compression test. It was found that the ligamentous layer had a high tensile modulus in the spanwise direction; the dense connective tissue had a high compressive modulus in the spanwise direction.

DOI： 10.5226/jabmech.1.45

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.5.461

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to measure the unsteady fluid force acting on the human body during swimming. For this objective, swimmer mannequin whose size was the half of the actual swimmer was conducted. An experiment to measure the drag acting on the mannequin was conducted in a circulating water tank. The mannequin was driven by the underwater driving device, and the drag was measured by four two-axis dynamometers. In the present report, the effect of rolling on the drag was investigated. From the experimental results, it was found that the drag increased once and decreased according to the increase of the rolling amplitude. However, since this result was found to be affected largely by the drag of bars supporting the mannequin, correction of the drag was attempt.

DOI： 10.1299/jsmemecjo.2010.2.0_87

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to optimize the crawl stroke by the computer simulation. For this objective, the Particle Swarm Optimization was incorporated into our swimming human simulation model SWUM. With respect to the constrained condition, the maximum joint torque characteristics for the shoulder and elbow joints were imposed. In order to acquire these characteristics, the musculoskeletal simulation for the upper limb was employed. From the result of optimization, it was found that the optimized stoke was close to the so-called S-shape stroke.

DOI： 10.1299/jsmemecjo.2010.6.0_63

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/kikaic.76.2277

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to clarify the muscle load in carrying an infant by the computer simulation. In order to obtain the input data for the simulation model, joint angles, electromyograms, and the force to segments in carrying an infant were measured in the experiment. Comparing the measured electromyogram data with the analyzed data by the musculoskeletal simulation, similar tendencies were obtained with respect to the muscle activities of Trapezius and Elector Spinae. From the results, it was found to be possible to reduce the physical load by selecting the appropriate carrying method according to the change in the simulation.

DOI： 10.1299/jsmemecjo.2010.5.0_43

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.5.380

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Language：Japanese   Publisher：エアロアクアバイオメカニクス  

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Language：Japanese   Publisher：バイオメカニズム学会  

DOI： 10.3951/sobim.34.175

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.5.388

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.proeng.2010.04.107

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.proeng.2010.04.147

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.5.357

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.5.314

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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DOI： 10.1299/kikaib.76.761_66

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.76.673

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.76.2277

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.5.314

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaib.76.761_66

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to extend the swimming human simulation model SWUM, which has been developed by the authors, to multi agent/object simulation. By this extension, SWUM can analyze the multiple bodies, that is, the other swimmers and equipments such as fins, starting block, pool wall, and so on. In this paper, the method of extension and its implementation to the software are firstly described. Two examples of analyses are next shown. The first example is simple synchronized swimming by three swimmers. In this simulation, virtual springs and dampers were employed to represent hand connections among the swimmers. Another example is the monofin swimming. In this simulation, the monofin was modeled as a series of five rigid plates. The virtual springs and dampers to represent the connection of the plates were employed. In addition, in order to represent the elasticity of the monofin, rotational springs and dampers among the plates were also employed. The reasonable results obtained in these simulation indicate the validity and usefulness of the present extension.

DOI： 10.1299/jsmesports.2009.0_214

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

Dolphins are characterized as a high speed swimmer. Tail flukes of a dolphin have been considered to play an important role as a principal propulsor in its high speed swimming. In this paper, we focused on the inner structure of the tail flukes and the mechanical properties of the tail flukes. The mechanical properties of two connective tissues were investigated by a tensile test and a compression test by using a hand-made testing apparatus. The result could be useful in improvement of artificial flukes for the disabled dolphin which lost her tail flukes.

DOI： 10.1299/jsmemecjo.2009.6.0_155

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to develop the widely useable simulator for optimization of walking form in water. The simulator consists of two calculation parts, calculation part for joint torque and calculation part of muscle force. In the simulation, joint angles are set as design parameters, and joint torque and muscle force are calculated repeatedly until the objective function becomes the maximum value. By using this simulator, the optimal walking form in water for elderly people was calculated as example. From the optimization, it was found that the form, in which knee joint is actively used, becomes the optimal form for elderly people.

DOI： 10.1299/jsmemecjo.2009.6.0_157

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to develop an underwater body 3DOF driving device. This device can drive an arbitrary underwater object in three degrees-of-freedom, as well as measure the force acting on the object in the propulsive and vertical directions. The underwater object is supported by four shafts, whose movement can be arbitrary programmed. Four two-axis dynamometers detect the force acting on the object. As a preliminary experiment, a cylindrical object was installed and the measurement was carried out The results show the satisfactory performance of the device. In the near future, the device will be used for experiments of the swimmer model, whose aim is to clari1,i the fluid force acting on the swimmer in unsteady movement.

DOI： 10.1299/jsmemecjo.2009.2.0_283

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Aero Aqua Bio-mechanisms  

Swimming movement of human being is quite distinctive compared to those of the other aquatic animals. Taking such peculiarity into account, the authors recently have developed a simulation model "SWUM" to simulate the human swimming. In this paper, the simulation model itself is firstly described. Next, several examples of applications of the model are presented in order to demonstrate the usefulness of the model. Finally, ongoing research projects are introduced to explain the future tasks for the model.

DOI： 10.5226/jabmech.1.11

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Language：Japanese   Publisher：筑波大学出版会  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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DOI： 10.1299/kikaib.75.750_284

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jbse.4.94

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaib.75.750_284

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Society of Sciences in Swimming and Water Exercise  

DOI： 10.2479/swex.11.24

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objectives of this study were to investigate the effect of trunk undulation on the swimming performance in underwater dolphin kick, and to clarify the ideal trunk undulation form. The reference swimming motion of an elite swimmer was firstly acquired from the video analysis, and input into the swimming human simulation model SWUM, which have been developed by the authors. The trunk motion was next optimized by the simulation for two objective functions: maximizing swimming speed and maximizing propulsive efficiency. The following findings were obtained: The swimming motion of maximizing propulsive efficiency and the reference swimming are considerably similar to each other. In both cases, the trunk moves as a seesaw with a node; whereas, the lower limbs form a traveling wave in the absolute space. The trunk undulation with the appropriate amplitudes and phases, especially bending at the chest, is important in realizing the swimming motion which maximizes propulsive efficiency.

DOI： 10.1299/jsmesports.2008.0_185

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Society of Biomechanisms  

<p>There have not yet been any musculoskeletal analysis of swimming, since it has been difficult to compute the fluid force acting on the whole body of a swimmer. Therefore, in order to make the musculo-skeletal analysis of swimming feasible, we developed a whole body musculoskeletal simulator for swimming. Two simulation models were integrated in this simulator. The first was the swimming human simulation model SWUM, which was developed by the authors and is capable of computing the fluid force acting on the whole body of a swimmer. The other model was the AnyBody Modeling System for musculoskeletal analysis. In this study, we first developed data transformation methods for transforming the output data from SWUM (body geometry, joint motion and fluid force) into input data for musculoskeletal analysis. Next, we constructed an integrated simulator by implementing these data transformation methods within a piece software also including SWUM. Using the simulator so developed, we conducted analyses of the four swimming strokes (crawl, breast, back, and butterfly). In addition, we examined the validity of this simulator by comparing its analytical results with the experimental results from previous electromyogram studies. The results of the comparison show good agreement between the analysis and experiments with respect to the timing of muscle activity, indicating that the simulator is sufficiently valid to estimate the timing of the muscle activity.</p>

DOI： 10.3951/biomechanisms.19.81

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

In this paper, stroke of the front crawl swimming was optimized for swimming speed in two constraint conditions in order to clarify their effect on the results. This optimization used Genetic Algorithm (GA) which was integrated into our swimming human simulation model SWUM. As the variations of the constraint condition, the upper limits for elbow joint torque were reduced to 70% and 30% from the value of previous study. The optimized stroke whose upper limit for elbow joint torque was reduced to 30% has the feature that the elbow does not bend much. From the analysis, it was found that the elbow angle of the optimized stroke depends on the upper limits for elbow joint torque.

DOI： 10.1299/jsmemecjo.2008.2.0_153

CiNii Books

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：Japanese  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Trans Tech Publications Ltd  

DOI： 10.4028/www.scientific.net/AST.58.220

Scopus

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Language：Japanese  

CiNii Books

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Society of Biomechanisms Japan (SOBIM)  

This study was intended to determine the thrust mechanism during underwater dolphin kick using a simulation model SWUM (SWimming hUman Model). The input data for the simulation were measured for 8 elite competitive swimmers. The SWUM was applied to recreate the dynamics of the underwater dolphin kick on the simulation. The thrusts and joint torques generated during underwater dolphin kick were simulated using the applied SWUM. The results showed that the feet mainly generated the thrust and not only joint torques of low limbs but also trunk was very important to generate the thrusts. Furthermore, it was suggested that one of the reason many butter.y swimmers had a low back pain was cyclic large torques generation by the trunk during underwater dolphin kick.

DOI： 10.3951/sobim.32.90

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The final goal of this study was to develop an above-knee prosthesis for swimming. As the first step for this goal, its structure was examined by simulation in this paper. The swimming human simulation model SWUM, which has been developed by the authors, was employed for the simulation. First, the phases of joint angle and torque at the knee and ankle were investigated with respect to a non-amputee swimmer. By this investigation, it was found that the phases of joint angle and torque are almost opposite both for the knee and ankle. This result suggests that the knee and ankle joint actuators can be replaced by rotational springs in the case of above-knee amputee. Therefore, a simulation in which the knee and ankle joint actuators of one-side limb are rotational springs was conducted. The resultant swimming motion was found to become sufficiently close to that of the non-amputee swimmer.

DOI： 10.1299/jsmemecjo.2008.6.0_71

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：Japanese Society of Sciences in Swimming and Water Exercise  

Thrust generated by limbs is quite important in swimming. However, the fluid force acting on limbs during unsteady motion such as swimming has been difficult to measure. Therefore, the authors developed an underwater robot arm, which can perform 5 degrees-of-motion, and can represent both upper and lower limb's swimming motion. The contents of this paper consist of the specification of the robot arm, an experiment to measure the unsteady fluid force using the robot arm, and the present status of the fluid force modeling based on the experimental results. As the result, it was verified that the unsteady fluid force during the swimming motion can be measured by the experimental setup. In addition, the validity of the fluid force model which was identified based on the experimental results was also verified.

DOI： 10.2479/swex.10.44

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The purpose of this study was to investigate the relationship between plantar flexion angle and underwater dolphin kick performance by simulation model SWUM (SWimming hUman Model). The input data were obtained by the anthropometric and motion analysis using 2-D DLT method to compute unsteady fluid forces, buoyancy and gravity acting on the swimmer. To recreate the swimming dynamics on the simulation, fluid coefficients, used to calculate the unsteady fluid forces, were identified to minimize the difference between measured and simulated swimming velocity by the least-squares method. Simulations of the increased plantar flexion angle were executed with the optimal fluid coefficients. The results show the swimming velocity increased due to the increment of the thrust generated by the feet after increasing the plantar flexion angle. Furthermore, it was suggested that the flexibility of plantar flexion is important, though it is not a determinant factor of the underwater dolphin kick performance.

DOI： 10.1299/jsmesports.2007.0_194

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to develop a system which enables athlete swimmers and coaches to easily understand the swimming motion in their daily training. In this system, a tri-axial acceleration and gyroscopic sensing unit is worn by the swimmer. From the measurement results by the sensing unit, the original swimming motion is reconstructed by a developed software. In addition, the fluid force acting on the forearm and hand can be estimated by the software, utilizing the technique of our swimming human simulation model SWUM. In this paper, the system structure, reconstructing method of swimming motion, an experiment to validate the accuracy of the system, and the developed software for displaying the swimming motion are described.

DOI： 10.1299/jsmesports.2007.0_200

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to model the unsteady fluid force acting on limbs in swimming, based on the experiments using an underwater robot arm. First, overview of the robot arm and the experiments were briefly described. Next, the modeling method of the robot arm and the unsteady fluid force, as well as the identification method of the coefficients in the fluid force model were described. The significantly large values of the identified coefficients for the arm suggest the possibility of underestimating the contribution of the arm to the thrust in the previous studies. The good agreement between the experiment and simulation for all strokes shows the validity of the model.

DOI： 10.1299/jsmemecjo.2007.2.0_187

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The objective of this study was to propose the optimal gait for muscle training during walking in water. First, the simulation method, which has been developed by the authors, was briefly described. The method consists of the inverse dynamics analysis part, which is a variation of the authors' swimming human simulation model SWUM, and the two-dimensional musculo-skeletal analysis part. Second, the evaluation index for the muscle training and the penalty index for the load on the joint were defined. Third, various gaits were analyzed by the simulation method. From the analysis, two gaits accompanying the large joint motions at the hip and knee were selected as the optimal gaits, by comparing the evaluation and penalty indices.

DOI： 10.1299/jsmemecjo.2007.7.0_31

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Japan Society of Mechanical Engineers  

The aim of this paper was to validate the optimal gait form for hip flexion and/or extension muscle group strengthening while walking in water. Five healthy young males participated in our experiments, and performed three gait forms; one is the normal form and the others were selected from the previous simulation study. These newly gait forms while walking in water were hip maximum voluntary flexion/extension with or without knee flexion for forward/backward direction, respectively. When subjects walked forward/backward direction with newly gait forms, the rectus/biceps femoris muscle electromyographic activities were enhanced compared with that of normal form. These results suggested that the optimal form based on the simulation study had high validity, and the hip flexion or extension muscle group could be strengthened selectively while forward or backward walking in water.

DOI： 10.1299/jsmemecjo.2007.7.0_33

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Language：English   Publishing type：Research paper (international conference proceedings)  

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