基于并行线驱动和迭代学习控制的人腿被动运动力矩估计系统

H. Kino, K. Saisyo, Y. Hatanaka, S. Kawamura
{"title":"基于并行线驱动和迭代学习控制的人腿被动运动力矩估计系统","authors":"H. Kino, K. Saisyo, Y. Hatanaka, S. Kawamura","doi":"10.1109/ICORR.2009.5209601","DOIUrl":null,"url":null,"abstract":"Estimation of joint torque is one of the motion analyses for a humans. It has been applied to rehabilitation, virtual reality, sports training and so on. This paper presents the development of a torque estimation system for the human leg in passive motion. This system uses a parallel-wire driven mechanism using two wires and iterative learning control. From the viewpoint of motion range of the human leg, the non-singular area of the proposed system is analyzed in this paper. Finally the usefulness of our proposed method is demonstrated through some experimental results.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"62 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Torque estimation system for human leg in passive motion using parallel-wire driven mechanism and iterative learning control\",\"authors\":\"H. Kino, K. Saisyo, Y. Hatanaka, S. Kawamura\",\"doi\":\"10.1109/ICORR.2009.5209601\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Estimation of joint torque is one of the motion analyses for a humans. It has been applied to rehabilitation, virtual reality, sports training and so on. This paper presents the development of a torque estimation system for the human leg in passive motion. This system uses a parallel-wire driven mechanism using two wires and iterative learning control. From the viewpoint of motion range of the human leg, the non-singular area of the proposed system is analyzed in this paper. Finally the usefulness of our proposed method is demonstrated through some experimental results.\",\"PeriodicalId\":189213,\"journal\":{\"name\":\"2009 IEEE International Conference on Rehabilitation Robotics\",\"volume\":\"62 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 IEEE International Conference on Rehabilitation Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICORR.2009.5209601\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE International Conference on Rehabilitation Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR.2009.5209601","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6

摘要

关节力矩估计是人体运动分析的重要内容之一。它已被应用于康复、虚拟现实、运动训练等领域。本文介绍了一种用于人腿被动运动的力矩估计系统的开发。该系统采用两线并联驱动机构和迭代学习控制。从人腿的运动范围出发,分析了该系统的非奇异区域。最后通过一些实验结果证明了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Torque estimation system for human leg in passive motion using parallel-wire driven mechanism and iterative learning control
Estimation of joint torque is one of the motion analyses for a humans. It has been applied to rehabilitation, virtual reality, sports training and so on. This paper presents the development of a torque estimation system for the human leg in passive motion. This system uses a parallel-wire driven mechanism using two wires and iterative learning control. From the viewpoint of motion range of the human leg, the non-singular area of the proposed system is analyzed in this paper. Finally the usefulness of our proposed method is demonstrated through some experimental results.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信