{"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}
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.