Driving force calculating device, driving force calculating method, power assisting device, program, and computer-readable storage medium
US7981059B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 4, 2005 |
| Grant date | Jul 19, 2011 |
| Priority date | — |
| Expiry date | Jun 6, 2027 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA63B2220/54
- WIPO fieldFurniture, games
- WIPO sectorOther fields
Abstract
In one embodiment of the present invention, a driving force calculating device calculates a driving force so that a desired load is applied on a muscle while a power assisting device assists and/or resists a predetermined motion. A driving force calculating section of a driving force calculating device calculates a driving force of each driving section according to a joint torque table on joint torque necessary for a rotational motion and an assigned muscle force table on an assigned muscle force input to a muscle force input section. For the calculation is used a muscle/artificial muscle integrated model data integrally including musculoskeletal model data on a musculoskeletal model of a human and artificial muscle model data on an artificial muscle model of the power assisting device. The driving force is calculated through optimization using Crowninshield performance function under constraint conditions of the joint torque and the assigned muscle force.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.