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2. 发明公开

EP1721593A1 GENERATED TORQUE CONTROL METHOD FOR LEG BODY EXERCISE ASSISTIVE APPARATUS 有权
标题翻译：控制力矩的程序制作了副机腿部及全身锻炼
公开(公告)号：EP1721593A1
公开(公告)日：2006-11-15
申请号：EP05719259.3
申请日：2005-02-18
申请人： HONDA MOTOR CO., Ltd.
发明人： KAWAI, Masakazu; c/o KABUSHIKI KAISHA HONDA , IKEUCHI, Yasushi; c/o KABUSHIKI KAISHA HONDA
IPC分类号： A61H3/00 , A63B23/04 , A63B23/12 , B25J13/00
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 make a leg motion in such a feeling that the person is not wearing the leg body exercise assistive apparatus as much as possible by reducing the weight of the leg body exercise assistive apparatus attached to the person acting on the person. On the assumption that a person (A) not wearing the assistive apparatus (1) is making the same motion as a leg motion of the person (A) wearing the leg body exercise assistive apparatus (1) during the leg motion of the person (A), an estimation is made for a person-side joint moment to be generated in each joint of the leg of the person (A), and on the assumption that the assistive apparatus (1) is independently making the same motion as the leg motion, an estimation is made for an apparatus-side joint moment to be generated in the joint regions (4), (6), and (10) of the leg sections of the assistive apparatus (1). The estimated value of the apparatus-side joint moment is considered as a reference torque for torque generation 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 generation means (18), (19), and (20).
摘要翻译：对于腿体的锻炼辅助装置A产生的转矩控制方法，使得人员能够制造一个腿运动中寻求的感觉并为生活者没有通过减少腿体锻炼辅助的重量穿着腿体锻炼辅助装置尽可能设备连接到作用于人的人。假设没有一个人（A）未佩戴辅助设备（1）是使相同的运动的人（A）的腿部运动（1）的人的腿运动期间穿着腿体锻炼辅助装置（ A）其中估计一个人-sidejoint时刻作出的人（A）的所述腿部的各个关节被生成，并假定做了辅助设备（1）是使unabhängig相同的运动作为所述腿部运动估计在设备侧接头力矩由在接合区域中产生（4），（6）和所述辅助装置的腿部分（10）（1）。的估计值的装置侧关节力矩被认为是用于扭矩产生装置的基准扭矩（18），（19）和（20），并通过添加扭矩雅丁所述估计值该人形成的扭矩在扭矩产生装置（18），（19）和（20）中产生扭矩sidejoint于基准转矩。

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