Gravity compensation method in a human assist system and a human assist system with gravity compensation control
First Claim
1. A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, comprising the steps of:
- determining whether the assist torques to be applied to the joint will increase or decrease the muscle mechanical power at the joint at a given instant in time;
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; and
obtaining an assist torque to be applied to the joint such that the moment due to gravity, acting on the joint is compensated for.
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Abstract
A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method 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. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory. The controller is configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be delivered to the joint to compensate for the moment due to gravitational acceleration at the joint.
The method provides a natural subdivision between the voluntary actuators which are responsible for forward progression of motion and the assist actuators which are responsible for preserving static equilibrium. This subdivision may mitigate the interference between voluntary control and artificial control.
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Citations
23 Claims
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1. A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, comprising the steps of:
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determining whether the assist torques to be applied to the joint will increase or decrease the muscle mechanical power at the joint at a given instant in time; 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; and obtaining an assist torque to be applied to the joint such that the moment due to gravity, acting on the joint is compensated for. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A human assist system for delivering an assist torque to a human joint to reduce load of muscles, comprising
a motor for delivering an assist torque to a joint, a motor driver for driving control of the motor, and a controller for determining a desired value of an assist torque, the controller comprising a processor and a memory and being configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be applied to the joint such that the moment due to gravity, acting on the joint is compensated for.
Specification