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Joint force and joint torque feedback estimation

A joint and feedback gain technology, applied in medical science, sensors, diagnostic recording/measurement, etc., can solve the problem of lack of predictive ability in inverse dynamics analysis

Inactive Publication Date: 2010-01-20
HONDA MOTOR CO LTD
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

Inverse dynamics analysis lacks predictive power because forces and moments are calculated rather than expected responses from applying those forces and moments

Method used

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  • Joint force and joint torque feedback estimation
  • Joint force and joint torque feedback estimation
  • Joint force and joint torque feedback estimation

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Embodiment Construction

[0040] Preferred embodiments of the present invention are described below with reference to the drawings, wherein reference numerals indicate identical or functionally similar parts. Also in the figures, the leftmost digit of each reference number corresponds to the drawing in which that reference number is first used.

[0041] figure 1 Explains how iterative calculations are used to separate the upper and lower body dynamics. The diagram includes an upper half of the human body 105 and a lower half of the human body 110 . The segment of the upper body 105 carries a load 140 on it. The lower half of the human body 110 includes segments of the ankle joint 120 , the knee joint 125 and the hip joint 130 . In an iterative method for computing joint forces and moments, the upper body half 105 and the lower body half 110 can be modeled separately. Starting with ground reaction forces 115 , the human body can effectively isolate the joints 120 , 125 , and 130 and associated link ...

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Abstract

Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module determines simulated kinematic data. An error correction controller forces tracking error between the simulated kinematic data and measured ( or desired) kinematic data to approach zero. The error correction controller generates a modified acceleration for input into an inverse dynamics module. The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data .

Description

[0001] This application is a divisional application of the application number 02813221.1. [0002] This application is related to U.S. Provisional Patent Application Serial No. 60 / 301,891, filed June 29, 2001, and entitled "A recursive, nonlinear feedback approach to estimate joint forces and joint moments from kinesiological measurements Iterative Nonlinear Feedback Methods for Forces and Joint Moments), and related to U.S. Provisional Patent Application Serial No. 60 / 353,378, filed January 31, 2002, and entitled "Forward solutions to inverse dynamics problems: a feedback linearization approach (inverse Forward Solution to Dynamics Problems: A Feedback Linearization Method), to which this application claims priority under 35 U.S.C. §119(e). technical field [0003] The present invention relates to human motion analysis, or more precisely, the analysis of joint forces and joint moments using nonlinear feedback in forward dynamics simulations. Background technique [0004] I...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B5/103
Inventor 贝赫扎德·大流士
Owner HONDA MOTOR CO LTD
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