Feedback estimation of joint forces and joint movements
First Claim
1. A method for determining an estimated joint load at a joint of interest in a system, the method comprising steps of:
- obtaining kinematic data for the system;
obtaining an input force for the system;
computing a modified acceleration using at least the kinematic data;
performing an inverse dynamics analysis to determine the estimated joint load at the joint of interest by recursively estimating successive joint loads until the joint of interest is reached, the inverse dynamics analysis using at least the modified acceleration and the input force; and
performing a forward dynamics analysis using the estimated joint load to determine simulated kinematic data for the system.
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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.
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Citations
22 Claims
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1. A method for determining an estimated joint load at a joint of interest in a system, the method comprising steps of:
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obtaining kinematic data for the system;
obtaining an input force for the system;
computing a modified acceleration using at least the kinematic data;
performing an inverse dynamics analysis to determine the estimated joint load at the joint of interest by recursively estimating successive joint loads until the joint of interest is reached, the inverse dynamics analysis using at least the modified acceleration and the input force; and
performing a forward dynamics analysis using the estimated joint load to determine simulated kinematic data for the system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A computer readable medium including program instructions for determining an estimated joint load at a joint of interest in a system, comprising:
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program instructions for obtaining kinematic data for the system;
program instructions for obtaining an input force for the system;
program instructions for computing a modified acceleration using at least the kinematic data;
program instructions for performing an inverse dynamics analysis to determine the estimated joint load at the joint of interest by recursively estimating successive joint loads until the joint of interest is reached, the inverse dynamics analysis using at least the modified acceleration and the input force; and
program instructions for performing a forward dynamics analysis using the estimated joint load to determine simulated kinematic data for the system. - View Dependent Claims (18)
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19. A method for determining an estimated joint load at a joint in a system, the method comprising steps of:
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obtaining kinematic data for the system;
computing a modified acceleration using at least the kinematic data, wherein the modified acceleration is computed without using accelerations estimated from measured kinematics;
performing an inverse dynamics analysis to determine the estimated joint load, wherein the inverse dynamics analysis uses at least the modified acceleration; and
performing a forward dynamics analysis using the estimated joint load to determine simulated kinematic data for the system. - View Dependent Claims (20, 21, 22)
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Specification