Method of estimating floor reactions of bipedal walking body, and method of estimating joint moments of bipedal walking body
US6915230B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 27, 2002 |
| Grant date | Jul 5, 2005 |
| Priority date | — |
| Expiry date | Jun 27, 2022 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61H2201/5084
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method is presented for determination of single stance or double stance state of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor reaction force acting on a leg body touching the ground is estimated based on an equation of motion for the center of gravity (GO) of a BMB. In a double stance state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies are estimated based on an equation of motion for GO of a BMB and an expression of relation between components of Fr and Ff on the respective leg bodies and positions of ankle portions of the leg bodies relative to the GO of the BMB. Further, based on an inverse dynamics model, knee and hip joint moments of each leg body are estimated using floor reaction force values.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.