Gravity compensation method in a human assist system and a human assist system with gravity compensation control

• US 7,217,247 B2
• Filed: 09/05/2003
• Issued: 05/15/2007
• Est. Priority Date: 09/23/2002
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Ikeuchi, Yasushi, Dariush, Behzad, Kawai, Masakazu
• Primary Examiner(s): DeMille; Danton
• Application Number:
  US10/655,460
• Publication Number:
  US 20050102111A1
• Time in Patent Office: 1,348 Days
• Field of Search: None
• US Class Current: 601/5
• CPC Class Codes: A61H 1/00 Apparatus for passive exercising A61H5/00 takes precedence; Vibrating apparatus driving means for vibrating A61H23/00; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
• CPC Class Codes: A61H 2001/0211 Walking coordination of arms and legs
• CPC Class Codes: A63B 21/00181 comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

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.

Claims

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.

2. A method according to claim 1, wherein a moment due to gravity, acting on the joint is obtained based on a ground reaction force acting on the foot, the center of pressure under the foot, and an inclining angle of each segment in the step of obtaining a moment due to gravity, acting on the joint.

3. A method according to claim 1, wherein terms of accelerations except those of the acceleration of gravity, terms of angular acceleration and terms of horizontal forces are set to zero in the equations of force and moment balance on each segment, to obtain a moment due to gravity, acting on the joint.

4. A method according to claim 1, wherein the applied torque at any given joint is estimated by calculating the net torque due to gravitation acceleration.

5. A method according to claim 1, wherein a ground reaction force is obtained based on a measurement of a sensor.

6. A method according to claim 1, wherein a ground reaction force is obtained based on predetermined constants.

7. A method according to claim 1, wherein an assist torque is obtained in real time through real time processing.

8. A method according to claim 1, wherein segments include, a foot, a shin and a thigh.

9. A method according to claim 1, wherein an inclining angle of each segment is based on a measurement of a sensor.

10. A method according to claim 9, wherein the sensor is a joint angle sensor which indicates a joint bending angle.

11. A method according to claim 10, wherein the joint angle sensor is a potentiometer.

12. A method according to claim 1, used during a period of human operations of lifting and lowering a load.

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.

14. A human assist system according to claim 13, wherein the system is of exoskeleton type.

15. A human assist system according to claim 13, wherein a moment due to gravity, acting on the joint is obtained by a ground reaction force acting on the foot and an inclining angle of each segment in the step of obtaining a moment due to gravity, acting on the joint.

16. A human assist system according to claim 13, wherein terms of accelerations except those of the acceleration of gravity, terms of angular acceleration and terms of horizontal forces are set to zero in the equations of force and moment balance on each segment, to obtain a moment due to gravity, acting on the joint.

17. A human assist system according to claim 13, wherein the system further comprises a sensor for detecting a ground reaction force and a ground reaction force is obtained based on a measurement of the sensor.

18. A human assist system according to claim 13, wherein the system further comprises a sensor for detecting the center of pressure and the center of pressure is obtained based on a measurement of the sensor.

19. A human assist system according to claim 13, wherein a ground reaction force is obtained based on predetermined constants.

20. A human assist system according to claim 13, wherein an assist torque is obtained in real time through real time processing.

21. A human assist system according to claim 13, wherein the system further comprises a sensor for obtaining an inclining angle of each segment.

22. A human assist system according to claim 21, wherein the sensor is a joint angle sensor which indicates a joint bending angle.

23. A human assist system according to claim 22, wherein the joint angle sensor is a potentiometer.