System and method of estimating joint loads in a three-dimensional system
First Claim
1. A computer based method for automatically estimating a joint load at a joint of a physical segment, comprising the steps of:
- receiving, at the computer, kinematic data representing a three-dimensional system;
determining, by the computer, a modified acceleration using at least said kinematic data;
estimating, by the computer, the joint load using at least said modified acceleration; and
determining, by the computer, simulated kinematic data for the segment using at least the joint load.
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Abstract
A method for estimating joint load at a joint of a segment. The method comprises the steps of receiving kinematic data, determining a modified acceleration using at least the kinematic data, estimating a joint load using at least the modified acceleration; and determining simulated kinematic data for the segment using at least the joint load. The method addresses the problems with conventional inverse dynamics analysis by providing a forward dynamics solution for estimation of joint loads that is stable, guaranteed to converge, computationally efficient, and does not require acceleration computations. According to one embodiment, a joint load is estimated recursively.
91 Citations
17 Claims
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1. A computer based method for automatically estimating a joint load at a joint of a physical segment, comprising the steps of:
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receiving, at the computer, kinematic data representing a three-dimensional system; determining, by the computer, a modified acceleration using at least said kinematic data; estimating, by the computer, the joint load using at least said modified acceleration; and determining, by the computer, simulated kinematic data for the segment using at least the joint load. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A computer based system for automatically estimating a joint load at a joint of a physical segment, comprising:
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means for receiving kinematic data representing a three-dimensional system; first determining means for determining a modified acceleration using at least said kinematic data; means for estimating the joint load using at least said modified acceleration; and second determining means for determining simulated kinematic data for the segment using at least the joint load. - View Dependent Claims (16, 17)
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Specification