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DE602004030251D1 - Verfahren zum schätzen des verbindungsmoments eine - Google Patents

Verfahren zum schätzen des verbindungsmoments eine

Info

Publication number
DE602004030251D1
DE602004030251D1 DE602004030251T DE602004030251T DE602004030251D1 DE 602004030251 D1 DE602004030251 D1 DE 602004030251D1 DE 602004030251 T DE602004030251 T DE 602004030251T DE 602004030251 T DE602004030251 T DE 602004030251T DE 602004030251 D1 DE602004030251 D1 DE 602004030251D1
Authority
DE
Germany
Prior art keywords
estimating
connecting moment
moment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE602004030251T
Other languages
English (en)
Inventor
M Kawai
Yasushi Ikeuchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE602004030251D1 publication Critical patent/DE602004030251D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physiology (AREA)
  • Rheumatology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
DE602004030251T 2003-07-11 2004-06-29 Verfahren zum schätzen des verbindungsmoments eine Expired - Lifetime DE602004030251D1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US48654303P 2003-07-11 2003-07-11
JP2003320108A JP4291093B2 (ja) 2003-09-11 2003-09-11 ２足歩行移動体の関節モーメント推定方法
PCT/JP2004/009516 WO2005005107A1 (ja) 2003-07-11 2004-06-29 ２足歩行移動体の関節モーメント推定方法

Publications (1)

Publication Number Publication Date
DE602004030251D1 true DE602004030251D1 (de) 2011-01-05

Family

ID=34418847

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602004030251T Expired - Lifetime DE602004030251D1 (de) 2003-07-11 2004-06-29 Verfahren zum schätzen des verbindungsmoments eine

Country Status (5)

Country Link
US (1) US7860607B2 (de)
EP (1) EP1649984B1 (de)
JP (1) JP4291093B2 (de)
DE (1) DE602004030251D1 (de)
WO (1) WO2005005107A1 (de)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
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JP4559803B2 (ja) * 2004-09-14 2010-10-13 敏男 福田 関節角の受動変化を利用して歩行するロボットとその制御方法
KR101182620B1 (ko) * 2007-10-23 2012-09-14 혼다 기켄 고교 가부시키가이샤 2 족 보행 로봇
WO2009116597A1 (ja) * 2008-03-18 2009-09-24 株式会社日立製作所 姿勢把握装置、姿勢把握プログラム、及び姿勢把握方法
US20110082566A1 (en) * 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
KR101185589B1 (ko) * 2008-11-14 2012-09-24 (주)마이크로인피니티 움직임 감지를 통한 사용자 명령 입력 방법 및 디바이스
JP2010176380A (ja) 2009-01-29 2010-08-12 Sony Corp 情報処理装置および方法、プログラム、並びに記録媒体
US9656117B2 (en) 2009-06-19 2017-05-23 Tau Orthopedics, Llc Wearable resistance garment with power measurement
US10124205B2 (en) 2016-03-14 2018-11-13 Tau Orthopedics, Llc Toning garment with modular resistance unit docking platforms
FR2956934B1 (fr) 2010-02-26 2012-09-28 Blink E Procede et dispositif d'emission/reception de signaux electromagnetiques recus/emis sur une ou plusieurs premieres bandes de frequences.
US8840527B2 (en) * 2011-04-26 2014-09-23 Rehabtek Llc Apparatus and method of controlling lower-limb joint moments through real-time feedback training
CN102320043A (zh) * 2011-06-07 2012-01-18 北京邮电大学 一种机器人动力学参数的动静态辨识方法
DE102012003033A1 (de) * 2012-02-17 2013-08-22 Otto Bock Healthcare Gmbh Vorrichtung und Verfahren zur Ermittlung und Darstellung von Kräften
FR2990315B1 (fr) 2012-05-04 2014-06-13 Blink E Procede de transmission d'informations entre une unite emettrice et une unite receptrice
CN103481965B (zh) * 2013-09-27 2015-12-09 重庆邮电大学 一种基于智能终端的低功耗行走装置及控制方法
JP2017520336A (ja) * 2014-03-17 2017-07-27 コア スポーツ テクノロジー グループＣｏｒｅ Ｓｐｏｒｔｓ Ｔｅｃｈｎｏｌｏｇｙ Ｇｒｏｕｐ 人体および物体運動への生体力学フィードバックを送達するための方法およびシステム
CN104939835B (zh) * 2014-03-31 2018-07-10 日本电气株式会社 步角测量方法和装置
US10993639B2 (en) * 2014-04-25 2021-05-04 Massachusetts Institute Of Technology Feedback method and wearable device to monitor and modulate knee adduction moment
US11000944B2 (en) * 2015-04-22 2021-05-11 Massachusetts Institute Of Technology Foot touch position following apparatus, method of controlling movement thereof, and non-transitory computer-readable information recording medium storing the same
KR102503910B1 (ko) * 2015-11-09 2023-02-27 삼성전자주식회사 기립 보조 방법 및 장치
TWI564129B (zh) * 2015-11-27 2017-01-01 財團法人工業技術研究院 行動輔助機器人之姿態估測方法
TWI615129B (zh) * 2016-02-19 2018-02-21 財團法人資訊工業策進會 步態分析系統及方法
JP6588624B2 (ja) * 2016-04-05 2019-10-09 株式会社日立製作所 ヒューマノイドロボット
JP2017202236A (ja) * 2016-05-13 2017-11-16 花王株式会社 歩行分析方法及び歩行分析装置
JP6738249B2 (ja) * 2016-09-09 2020-08-12 花王株式会社 歩行分析方法及び歩行分析装置
JP6738250B2 (ja) * 2016-09-09 2020-08-12 花王株式会社 歩行分析方法及び歩行分析装置
CN110053039B (zh) * 2018-01-17 2021-10-29 深圳市优必选科技有限公司 一种机器人行走中重力补偿的方法、装置及机器人
CN109871018B (zh) * 2019-02-25 2020-03-10 北京航空航天大学 一种具有腰部自由度四足机器人的控制方法
CN110163112B (zh) * 2019-04-25 2021-03-19 沈阳图为科技有限公司 一种考生姿态分割与平滑方法
JP7181533B2 (ja) * 2019-10-23 2022-12-01 国立大学法人広島大学 生体計測システム及び方法
WO2021084689A1 (ja) * 2019-10-31 2021-05-06 日本電気株式会社 情報処理システム、情報処理装置、情報処理方法および記録媒体
CN112060078B (zh) * 2020-07-28 2021-09-17 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
CN112488000B (zh) * 2020-12-02 2022-08-09 河北工业大学 一种视触融合的全身步态运动模型的建模方法及应用
CN113080946B (zh) * 2021-04-29 2024-05-14 合肥工业大学 一种人体坐站转移能力测量装置、测量方法及电子设备
US11833680B2 (en) * 2021-06-25 2023-12-05 Boston Dynamics, Inc. Robot movement and online trajectory optimization

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1120203B1 (de) * 1998-04-20 2011-01-19 Honda Giken Kogyo Kabushiki Kaisha Steuereinheit für einen mit beinen beweglichen roboter
JP3615702B2 (ja) * 1999-11-25 2005-02-02 ソニー株式会社 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット
US6898485B2 (en) * 2000-11-20 2005-05-24 Sony Corporation Device and method for controlling operation of legged robot, and robot device
JP4188607B2 (ja) 2001-06-27 2008-11-26 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
US7135003B2 (en) * 2001-06-29 2006-11-14 Honda Giken Kogyo Kabushiki Kaisha Feedback estimation of joint forces and joint moments
JP4184679B2 (ja) * 2001-08-01 2008-11-19 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法

Also Published As

Publication number Publication date
EP1649984A1 (de) 2006-04-26
EP1649984A4 (de) 2008-12-24
WO2005005107A1 (ja) 2005-01-20
US7860607B2 (en) 2010-12-28
US20070084278A1 (en) 2007-04-19
JP2005081537A (ja) 2005-03-31
EP1649984B1 (de) 2010-11-24
JP4291093B2 (ja) 2009-07-08

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