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1. 发明申请

WO2005079725A8 GENERATED TORQUE CONTROL METHOD FOR LEG BODY EXERCISE ASSISTIVE APPARATUS 审中-公开
标题翻译：腿身运动辅助装置的生成力矩控制方法
公开(公告)号：WO2005079725A8
公开(公告)日：2005-11-17
申请号：PCT/JP2005002540
申请日：2005-02-18
申请人： HONDA MOTOR CO LTD , KAWAI MASAKAZU , IKEUCHI YASUSHI
发明人： KAWAI MASAKAZU , IKEUCHI YASUSHI
IPC分类号： A61H3/00 , A63B23/04 , A63B23/12 , A63B24/00 , B25J13/00 , B62D57/032
CPC分类号： B25J9/1638 , A61H3/00 , A63B23/04 , A63B23/12 , A63B2220/54 , B62D57/032 , G05B2219/40305 , G05B2219/45109
摘要： A generated torque control method for a leg body exercise assistive apparatus enabling a person to perform the exercise of leg bodies in such a feeling that the leg body exercise assistive apparatus is not installed on the person by reducing the weight of the leg body exercise assistive apparatus installed on the person acting on the person. On the assumption that a person (A) from which the assistive apparatus (1) is removed performs the same exercise as the leg body exercise when the person (A) who wears the leg body exercise assistive apparatus (1) performs the exercise of the leg bodies, a person side joint moment to be generated in each joint of the leg bodies of the person (A) is estimated, and on the assumption that the assistive apparatus (1) alone performs the same exercise as the leg body exercise, an apparatus side joint moment to be generated in the joint portions (4), (6), and (10) of the leg body parts of the assistive apparatus (1) is estimated. The estimated value of the apparatus side joint moment is considered as the reference torque of the torque generating means (18), (19), and (20), and a torque formed by adding a torque according to the estimated value of the person side joint moment to the reference torque is generated in the torque generating means (18), (19), and (20).
摘要翻译：一种腿部运动辅助装置的生成转矩控制方法，通过使腿部运动辅助装置的重量减轻，从而在腿部运动辅助装置没有设置在人身上的感觉下，能够进行腿部运动安装在代理人身上。假设当穿着腿部运动辅助设备（1）的人（A）执行锻炼时，从其移除了辅助设备（1）的人（A）执行与腿部运动相同的锻炼要估计在人（A）的腿身的每个关节中要产生的人侧关节力矩，并且假设仅辅助装置（1）执行与腿部锻炼相同的锻炼，估计在辅助设备（1）的腿身部分的关节部分（4），（6）和（10）中要产生的设备侧关节力矩。装置侧结合力矩的估计值被认为是转矩产生装置（18），（19）和（20）的参考转矩，以及通过将与人侧的估计值相应的转矩相加而形成的转矩在转矩产生装置（18），（19）和（20）中产生与参考转矩的联合转矩。

2. 发明专利

AT520502T 未知
公开(公告)号：AT520502T
公开(公告)日：2011-09-15
申请号：AT04724186
申请日：2004-03-29
申请人： HONDA MOTOR CO LTD
发明人： KAWAI MASAKAZU
IPC分类号： B25J5/00 , B62D57/032

3. 发明专利

AT497464T 未知
公开(公告)号：AT497464T
公开(公告)日：2011-02-15
申请号：AT03021212
申请日：2003-09-18
申请人： HONDA MOTOR CO LTD
发明人： KAWAI MASAKAZU , IKEUCHI YASUSHI , DARIUSH BEHZAD
IPC分类号： B25J5/00 , B62D57/032 , A61F2/60 , B25J9/00
摘要： A method and processor (16) for obtaining torques to be applied to joints (8,10,12) of a leg (2) of a biped walking system (1) are provided. The method comprises the steps of obtaining moments (M 1 ,M 2 ) acting around the joints (8,10,12) of the leg (2), using the vertical component (F z ) of the ground reaction force (F) acting on the leg (2) at the point of application of the ground reaction force (F), the vertical components (F 1z ,F 2z ,F 3z ) of forces acting on the joints (8,10,12) of the leg (2) and a term of the acceleration of gravity and without using the horizontal components (F 1x ,F 2x ,F 3x ) of the forces acting on the joints (8,10,12) of the leg (2) and a term of acceleration except the term of the acceleration of gravity and obtaining the torques to be applied to the joints of the leg, based on the moments acting around the joints (8,10,12) of the leg (2). The vertical component (F z ) of the ground reaction force (F) acting on the leg, is obtained based on which leg or legs (2) are in contact with the ground, the attitude of the leg (2) and the vertical component of acceleration of the center of gravity of the whole body including the leg (2). The processor is configured to perform the above steps.

4. 发明专利

AT485995T 未知
公开(公告)号：AT485995T
公开(公告)日：2010-11-15
申请号：AT03021210
申请日：2003-09-18
申请人： HONDA MOTOR CO LTD
发明人： KAWAI MASAKAZU , IKEUCHI YASUSHI , DARIUSH BEHZAD
IPC分类号： B25J5/00 , B62D57/032 , A61F2/60 , B25J9/00
摘要： A method and processor (16) for obtaining torques to be applied to joints (8,10,12) of a leg (2) of a biped walking system (1) are provided. The method comprises the steps of obtaining moments acting around the joints (8,10,12) of the leg (2), using the vertical component (Fz) of the ground reaction force acting on the leg (2) at the point of application of the ground reaction force, the vertical components (F 1 z,F 2 z) of forces acting on the joints (8,10,12) of the leg (2) and a term of the acceleration of gravity and without using the horizontal components of the forces acting on the joints (8,10,12) of the leg (2) and a term of acceleration except the term of the acceleration of gravity and obtaining the torques to be applied to the joints (8,10,12) of the leg (2), based on the moments acting around the joints (8,10,12) of the leg (2). The vertical component of the ground reaction force acting on the leg (2), is obtained based on which leg or legs (2) are in contact with the ground. The processor (16) is configured to perform the above steps.

5. 发明专利

CA2451730C METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY, AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY 未知
公开(公告)号：CA2451730C
公开(公告)日：2010-08-10
申请号：CA2451730
申请日：2002-06-27
申请人： HONDA MOTOR CO LTD
发明人： KAWAI MASAKAZU , IKEUCHI YASUSHI , KATO HISASHI
IPC分类号： G01L1/00 , A61B5/00 , A61B5/024 , A61B5/103 , A61F2/72 , A61H3/00 , B25J5/00 , B25J9/00
摘要： Whether the motion of leg bodies (2) is in a single leg support state or two-leg support state is decided and when it is in a single leg support state, a floor reaction (F) acting on the leg body (2) contacting the ground is estimated on the basis of the equation of motion for the center of gravity (GO) of a bipedal walking body (1). When it is in a two-leg support state, floor reactions(Fr, Ff) acting on the respective leg bodies (2) are estimated on the basis of the equation of motion for the center of gravity (GO) of the bipedal walking body (1) and the relation between the components of floor reactions (Fr, Ff) of each leg body (2) and the position of the ankle (12) of each leg body (2) with respect to the center of gravity (GO) of the bipedal walking body (1). Further, on the basis of an inverse dynamics model using the estimates of the floor reactions (Fr, Ff), the moments acting on the knee joint (10) and hip joint (8) are estimated. Thereby, the floor reactions acting on the leg bodies of a bipedal walking body, such as a human being, and the moments acting on the joints of the leg bodies are grasped accurately in real time by a relatively simple method.

6. 发明专利

AT513660T 未知
公开(公告)号：AT513660T
公开(公告)日：2011-07-15
申请号：AT04724187
申请日：2004-03-29
申请人： HONDA MOTOR CO LTD
发明人： KAWAI MASAKAZU
IPC分类号： B25J5/00 , B62D57/032
摘要： While a biped walking mobile body is in a motion, including level-ground walking, the position of the center of gravity (G0) of the biped walking mobile body, the position of an ankle joint (12) of each leg (2), and the position of a metatarsophalangeal joint (13a) of a foot (13) are successively grasped, and the horizontal position of a floor reaction force acting point of the leg (2) in contact with the ground is estimated on the basis of the relative positional relationship among the aforesaid positions. Depending on whether the center of gravity (G0) is behind the ankle joint (12), between the ankle joint (12) and the metatarsophalangeal joint (13a), or before the metatarsophalangeal joint (13a) with respect to the advancing direction of the biped walking mobile body, the horizontal position of the ankle joint (12), the center of gravity (G0), or the metatarsophalangeal joint (13a) is defined as the horizontal position of a floor reaction force acting point. The vertical position of the floor reaction force acting point is estimated on the basis of the vertical distance from the ankle joint (12) to a ground contact surface.

7. 发明专利

DE60237288D1 VERFAHREN ZUR ABSCHÄTZUNG VON BODENREAKTIONEN EINES ZWEIPEDALGEHKÖRPERS UND VERFAHREN ZUR ABSCHÄTZUNG VON GELENKMOMENTEN EINES ZWEIPEDALGEHKÖRPERS 未知
公开(公告)号：DE60237288D1
公开(公告)日：2010-09-23
申请号：DE60237288
申请日：2002-06-27
申请人： HONDA MOTOR CO LTD
发明人： KAWAI MASAKAZU , IKEUCHI YASUSHI , KATO HISASHI
IPC分类号： B25J5/00 , G01L1/00 , A61B5/024 , A61B5/103 , A61F2/60 , A61F2/72 , A61H3/00 , B25J9/00 , B62D57/032

8. 发明专利

CA2456152A1 METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY, AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY 未知
公开(公告)号：CA2456152A1
公开(公告)日：2003-02-27
申请号：CA2456152
申请日：2002-07-26
申请人： HONDA MOTOR CO LTD
发明人： IKEUCHI YASUSHI , KATOH HISASHI , KAWAI MASAKAZU
IPC分类号： B25J5/00 , B62D57/032 , G05D1/02 , B25J13/00
摘要： Whether the motion of leg bodies (2) is in a single leg support state or two - leg support state is sequentially decided and the total floor reaction (F) i s estimated on the basis of the equation of motion for the center of gravity (G0) of a bipedal walking body (1). When it is in a single leg support state , the estimated value of the total floor reaction (F) is taken as the estimate d value of the floor reaction of the leg body (2) contacting the ground, and when it is in a two-leg support state, the floor reaction (Fr) of the leg bo dy (2) in the back side is found by using measure data about the elapsed time o f the two-leg support state and about the moving speed of the bipedal walking body (1) and predetermined characteristic data, and the floor reaction (Ff) of the leg body (2) in the front side is found by subtracting the floor reactio n (Fr) from the total floor reaction (F). Thereby, it is possible to provide a method of accurately grasping in real time the floor reactions acting on the leg bodies of a bipedal walking body, such as a human being, and the moments acting on the joints of the leg bodies by a relatively simple technique.

9. 发明专利

CA2451730A1 METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY, AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY 未知
公开(公告)号：CA2451730A1
公开(公告)日：2003-01-09
申请号：CA2451730
申请日：2002-06-27
申请人： HONDA MOTOR CO LTD
发明人： IKEUCHI YASUSHI , KATO HISASHI , KAWAI MASAKAZU
IPC分类号： G01L1/00 , A61B5/024 , A61B5/103 , A61F2/72 , A61H3/00 , B25J5/00 , B25J9/00 , A61B5/00
摘要： Whether the motion of leg bodies (2) is in a single leg support state or two - leg support state is decided and when it is in a single leg support state, a floor reaction (F) acting on the leg body (2) contacting the ground is estimated on the basis of the equation of motion for the center of gravity (GO) of a bipedal walking body (1). When it is in a two-leg support state, floor reactions(Fr, Ff) acting on the respective leg bodies (2) are estimate d on the basis of the equation of motion for the center of gravity (GO) of the bipedal walking body (1) and the relation between the components of floor reactions (Fr, Ff) of each leg body (2) and the position of the ankle (12) o f each leg body (2) with respect to the center of gravity (GO) of the bipedal walking body (1). Further, on the basis of an inverse dynamics model using t he estimates of the floor reactions (Fr, Ff), the moments acting on the knee joint (10) and hip joint (8) are estimated. Thereby, the floor reactions acting on the leg bodies of a bipedal walking body, such as a human being, a nd the moments acting on the joints of the leg bodies are grasped accurately in real time by a relatively simple method.

10. 发明专利

DE602004031118D1 VERFAHREN ZUM SCHÄTZEN DES VERBINDUNGSMOMENTS EINE 未知
公开(公告)号：DE602004031118D1
公开(公告)日：2011-03-03
申请号：DE602004031118
申请日：2004-06-29
申请人： HONDA MOTOR CO LTD
发明人： KAWAI MASAKAZU , IKEUCHI YASUSHI
IPC分类号： B25J5/00 , G01L1/00 , B25J13/00 , G01P15/18

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