Inverse Dynamics of Human Passive Motion Based on Iterative Learning Control

被引：15

作者：

Taniguchi, Shohei ^{[1
]}

Kino, Hitoshi ^{[2
]}

Ozawa, Ryuta ^{[3
]}

Ishibashi, Ryota ^{[4
]}

Uemura, Mitsunori ^{[5
]}

Kanaoka, Katsuya ^{[6
]}

Kawamura, Sadao ^{[3
]}

机构：

[1] Panason Elect Works Co Ltd, Appliances Mfg Business Unit, Ctr Res & Dev, Osaka 5718686, Japan

[2] Fukuoka Inst Technol, Dept Intelligent Mech Engn, Fukuoka 8110295, Japan

[3] Ritsumeikan Univ, Dept Robot, Kusatsu 5258577, Japan

[4] Tokyo Metropolitan Univ, Div Human Mechatron Syst, Tokyo 1910065, Japan

[5] Osaka Univ, Grad Sch Engn Sci, Dept Mech Sci & Bioengn, Suita, Osaka 5650871, Japan

[6] Ritsumeikan Univ, Res Org Sci & Engn, Adv Robot Res Ctr, Kusatsu 5258577, Japan

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 2012年 / 42卷 / 02期

关键词：

Human arm; inverse dynamics; iterative learning; torque estimation; BODY SEGMENT PARAMETERS; MODEL; STIFFNESS; DRIVEN; IDENTIFICATION; MOVEMENTS; TORQUES; WALKING; FORCES; MOMENT;

D O I：

10.1109/TSMCA.2011.2170413

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Estimation of joint torque is an important objective in the analyses of human motion. In particular, many applications seek to discern torque during a desired human motion, which is equivalent to solving the inverse dynamics. The computed torque method is a conventional means of calculating inverse dynamics. The obtained torque, however, invariably includes errors resulting from inexact inertial and viscoelastic parameters. This paper presents a method for solving the inverse dynamics of a human arm passively during tracking. To achieve precise human motion tracking, iterative learning control is used for motion generation. Some experiments that target a human arm are executed to validate the proposed method.

引用

页码：307 / 315

页数：9

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