Title:
実現可能性多重パラメータを用いた重力補償制御システム及び方法
Document Type and Number:
Japanese Patent JP4708421
Kind Code:
B2
Abstract:
A method for obtaining an assist torque to be applied to a human joint, in a human assist system in order to reduce the load on muscles, according to the present invention comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. In one embodiment of the present invention, various criteria are used such as mechanical energy, metabolic energy and/or a stability/equilibrium factor. In addition, the present invention can account for the situation where there is substantially no relative motion between segments of a given joint and thus, where the mechanical energy component of gravity compensation is approximately zero.
Inventors:
Dariusz and Bezad
Application Number:
JP2007508398A
Publication Date:
June 22, 2011
Filing Date:
April 08, 2005
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
A61H3/00; A61H1/00; B25J9/00; B62D57/032; A61H1/02
Domestic Patent References:
JP2003150036A | ||||
JP200379684A |
Attorney, Agent or Firm:
Isono Dozo