System and method of estimating joint loads using an approach of closed form dynamics
First Claim
1. A computer implemented method for automatically estimating a joint load at a joint of a segment, comprising the steps of:
- receiving by said computer kinematic data representing a serial chain system;
determining a modified acceleration using at least said kinematic data;
estimating the joint load using at least said modified acceleration, wherein said step of estimating the joint load uses an approach of closed form dynamics; and
determining 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 present disclosure thus 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 using an approach of closed form dynamics.
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Citations
20 Claims
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1. A computer implemented method for automatically estimating a joint load at a joint of a segment, comprising the steps of:
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receiving by said computer kinematic data representing a serial chain system; determining a modified acceleration using at least said kinematic data; estimating the joint load using at least said modified acceleration, wherein said step of estimating the joint load uses an approach of closed form dynamics; and determining 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 system for automatically estimating a joint load at a joint of a segment, comprising:
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means for receiving kinematic data representing a serial chain 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 wherein said means for estimating the joint load uses an approach of closed form dynamics; and second determining means for determining simulated kinematic data for the segment using at least the joint load. - View Dependent Claims (16, 17, 18)
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19. A computer program product for automatically estimating a joint load at a joint of a segment, the computer program product comprising a computer-readable storage medium containing executable computer program code for performing a method comprising:
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receiving kinematic data representing a serial chain system; determining a modified acceleration using at least said kinematic data; estimating the joint load using at least said modified acceleration, wherein said step of estimating the joint load uses an approach of closed form dynamics; and determining simulated kinematic data for the segment using at least the joint load. - View Dependent Claims (20)
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Specification