Feedback estimation of joint forces and joint movements

• US 7,386,366 B2
• Filed: 07/05/2006
• Issued: 06/10/2008
• Est. Priority Date: 06/29/2001
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Dariush, Behzad
• Primary Examiner(s): Tran; Khoi H.
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US11/481,700
• Publication Number:
  US 20060282022A1
• Time in Patent Office: 706 Days
• Field of Search: 700/189, 700/190, 700/217, 700/218, 700/245, 700/254, 700/258, 700/259, 700/260, 700/261, 700/262, 318/560, 318/568.1, 901/15, 901/16, 901/21, 901/39, 701/23
• US Class Current: 700/245
• CPC Class Codes: A61B 5/1038 Measuring plantar pressure during gait
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence

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.

Claims

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.

2. The method of claim 1 wherein the kinematic data comprises center of mass coordinates and a joint angle.

3. The method of claim 1 wherein the input force comprises a ground reaction force.

4. The method of claim 1 wherein the input force comprises force plate measurement.

5. The method of claim 1 wherein the input force is equal to zero.

6. The method of claim 1 wherein the input force acts at a point of contact on a segment of the system.

7. The method of claim 1 wherein the input force comprises at least one of an internal force and an internal moment.

8. The method of claim 1 wherein the input force comprises a joint torque.

9. The method of claim 1 wherein the step of computing the modified acceleration further comprises the steps of:

computing an error value representing a difference between the simulated kinematic data and the kinematic data; and

applying a feedback gain to the error value.

10. The method of claim 9 wherein the feedback gain comprises at least one of a positional feedback gain and a velocity feedback gain.

11. The method of claim 9, wherein applying the feedback gain to the error value comprises:

determining the feedback gain that achieves a critically damped response; and

applying the feedback gain to the error value.

12. The method of claim 1 wherein the step of performing a forward dynamics analysis further comprises performing an integration to determine the simulated kinematic data.

13. The method of claim 1, wherein the step of computing the modified acceleration further uses feedback of the simulated kinematic data.

14. The method of claim 1, wherein the step of performing the inverse dynamics analysis further uses feedback of the simulated kinematic data.

15. The method of claim 1, wherein the step of performing the forward dynamics analysis further uses feedback of the simulated kinematic data.

16. The method of claim 1 further comprising the steps of:

obtaining kinematic data for a second joint;

computing a second modified acceleration using at least the kinematic data for the second joint;

performing an inverse dynamics analysis to produce a second estimated joint load, the inverse dynamics analysis using at least the second modified acceleration and the estimated joint load; and

performing a forward dynamics analysis on the second estimated joint load to obtain simulated kinematic data for the second joint.

17. A computer readable medium including program instructions for determining an estimated joint load at a joint of interest in a system, comprising:

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.

18. The computer readable medium of claim 17 further comprising:

program instructions for computing an error value representing a difference between the simulated kinematic data and the kinematic data; and

program instructions for applying a feedback gain to the error value.

19. A method for determining an estimated joint load at a joint in a system, the method comprising steps of:

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.

20. The method of claim 19, further comprising determining an input force for the system, wherein the inverse dynamics analysis further uses the input force to determine the estimated joint load.

21. The method of claim 20, wherein the input force comprises a ground reaction force.

22. The method of claim 19 wherein the step of computing the modified acceleration further comprises the steps of:

computing an error value representing a difference between the simulated kinematic data and the kinematic data; and

applying a feedback gain to the error value.