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1. 发明授权

US06915230B2 Method of estimating floor reactions of bipedal walking body, and method of estimating joint moments of bipedal walking body 有权
标题翻译：估计双足步行身体的楼层反应的方法，以及估计双足步行身体的关节力矩的方法
公开(公告)号：US06915230B2
公开(公告)日：2005-07-05
申请号：US10481858
申请日：2002-06-27
申请人： Masakazu Kawai , Yasushi Ikeuchi , Hisashi Katoh
发明人： Masakazu Kawai , Yasushi Ikeuchi , Hisashi Katoh
IPC分类号： G01L1/00 , A61B5/024 , A61B5/103 , A61F2/72 , A61H3/00 , B25J5/00 , B25J9/00 , G06F15/00
CPC分类号： B62D57/032 , A61B5/024 , A61B5/1038 , A61B5/1116 , A61B5/4528 , A61F2/72 , A61H3/00 , A61H3/008 , A61H2201/5061 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , B25J9/0006
摘要： 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.
摘要翻译：提出了一种用于确定双足移动体（BMB）的腿体的单一姿势或双姿势状态的方法。在单一姿势状态下，基于BMB的重心（GO）的运动方程来估计作用在接触地面的腿身上的地板反作用力。在双重状态下，基于BMB的GO的运动方程和各个腿体上的Fr和Ff的分量之间的关系的表达来估计作用在腿部身体上的地面反作用力Fr和Ff，以及腿体的踝部相对于BMB的GO的位置。此外，基于反动力学模型，使用地板反作用力值估计每个腿体的膝关节和髋关节力矩。

2. 发明授权

US07054763B2 Method of estimating floor reactions of bipedal walking body, and method of estimating joint moments of bipedal walking body 有权
标题翻译：估计双足步行身体的楼层反应的方法，以及估计双足步行身体的关节力矩的方法
公开(公告)号：US07054763B2
公开(公告)日：2006-05-30
申请号：US10485439
申请日：2002-07-26
申请人： Masakazu Kawai , Yasushi Ikeuchi , Hisashi Katoh
发明人： Masakazu Kawai , Yasushi Ikeuchi , Hisashi Katoh
IPC分类号： G01L1/00 , G01L3/00 , G01L5/00 , G06F19/00
CPC分类号： B62D57/032
摘要： Whether a motion state of leg bodies (2) is a single stance state or a double stance state is sequentially determined and a total reaction force (F) is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body (1). If the motion state is the single stance state, then the estimated value of the total floor reaction force (F) is directly used as an estimated value of the floor reaction force of the leg body (2). If the motion state is the double stance state, then a floor reaction force (Fr) of the leg body (2) at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body (1) and pre-established characteristic data, and the floor reaction force (Fr) is subtracted from the total floor reaction force (F) to determine a floor reaction force (Ff) of the leg body (2) at the front side. Thus, it is possible to provide a method that allows floor reaction forces acting on leg bodies of a bipedal walking body, such as a human being, and moments acting on joints of the leg bodies to be determined in real time with high accuracy by a relatively simple technique.
摘要翻译：依次确定腿体（2）的运动状态是单一姿势状态还是双姿势状态，并且基于重心运动方程（G 0）来估计总反作用力（F）的双足步行体（1）。如果运动状态是单一姿态，则直接将总楼面反作用力（F）的估计值用作腿体（2）的地板反作用力的估计值。如果运动状态是双重姿态，则使用双脚步状态的经过时间的测量数据和双脚行走的移动速度来确定后侧的腿体（2）的地面反作用力（Fr）主体（1）和预先设定的特征数据，并从总地板反作用力（F）中减去地面反作用力（Fr），以确定前侧的腿体（2）的地面反作用力（Ff）。因此，可以提供一种方法，其允许作用在诸如人的双足行走体的腿体上的地板反作用力和作用在腿体的关节上的力矩以高精度实时确定，比较简单的技术

3. 发明授权

US07713217B2 Torque imparting system 有权
标题翻译：扭矩传递系统
公开(公告)号：US07713217B2
公开(公告)日：2010-05-11
申请号：US10481807
申请日：2002-06-27
申请人： Yasushi Ikeuchi , Hisashi Katoh , Takashi Hirata
发明人： Yasushi Ikeuchi , Hisashi Katoh , Takashi Hirata
IPC分类号： A61B5/103 , A61B5/117 , A61F2/74 , A61F2/60 , A61F2/78 , A61F2/68 , A61F2/62 , A61F2/64 , A61F2/66 , A61F2/54 , A61F2/00 , A61F2/58
CPC分类号： A61H3/008 , A61B5/4528 , A61F2/72 , A61H1/0255 , A61H3/00 , A61H35/00 , A61H2201/1238 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5069 , A61H2201/5071 , A61H2201/5079 , A61H2201/5084 , B25J9/0006
摘要： A system for assisting the motion of a body connected through joints provides a system for imparting a suitable torque to the connected body at the time of various turns including the bending of the joints. The torque imparting system has first and second measuring means, a reference work volume determining means, and an external torque determining means. The first measuring means measures the internal work volume of the around-joint leg. The second measuring means measures an external work volume around a joint imparted to the leg. The reference work volume determining means determines a reference work volume based on the internal work volume. The external torque determining means determines an external torque imparted to the leg so as to reduce the difference between the internal work volume of the leg and the reference work volume, based on the external work volume.
摘要翻译：用于辅助通过接头连接的主体的运动的系统提供了一种在包括关节的弯曲的各种转弯时向连接体施加适当扭矩的系统。转矩赋予系统具有第一和第二测量装置，参考工作量确定装置和外部扭矩确定装置。第一测量装置测量围绕关节腿的内部工作体积。第二测量装置测量传递给腿部的关节周围的外部工作体积。参考工作量确定装置基于内部工作量来确定参考工作量。外部扭矩确定装置确定施加到腿部的外部扭矩，以便基于外部工作体积来减小腿部的内部工作体积与参考工作体积之间的差异。

4. 发明授权

US07860607B2 Method of estimating joint moment of bipedal walking body 失效
标题翻译：估计双足步行体关节力矩的方法
公开(公告)号：US07860607B2
公开(公告)日：2010-12-28
申请号：US10564073
申请日：2004-06-29
申请人： Masakazu Kawai , Yasushi Ikeuchi
发明人： Masakazu Kawai , Yasushi Ikeuchi
IPC分类号： G06F19/00 , A61B5/103
CPC分类号： B62D57/02 , A61B5/1038 , A61B5/1071 , A61B5/112 , A61B5/1121 , A61B5/4528 , A61H3/00 , B62D57/032
摘要： The joint rotational angles of joints 9, 11 and 13 of each leg 2 of a bipedal walking body 1 are detected to grasp the positions/postures of the corresponding rigid bodies 10, 12 and 14 of each leg 2 on a leg plane passing the joints 9, 11 and 13 of each leg 2. At the same time, the acceleration of a reference point (the origin of a body coordinate system BC) of the bipedal walking body 1, the floor reaction force acting on each leg 2 and the position of an acting point thereof are grasped in terms of three-dimensional amounts. Two-dimensional amounts obtained by projecting the acceleration, the floor reaction force and the position of the acting point thereof, and the positions/postures of the corresponding rigid bodies of each 2 onto the leg plane are used to estimate the moments acting on joints of each leg on the basis of an inverse dynamic model. The stability of the estimated values of joint moments can be improved while securing the accuracy of estimating the joint moments in the bending and stretching directions of each leg, considering three-dimensional motions of the bipedal walking body.
摘要翻译：检测双足步行体1的每个腿2的关节9,11和13的关节旋转角度，以便在通过关节的腿平面上抓住每个腿2的相应刚体10,12和14的位置/姿势同时，双足步行体1的参考点（身体坐标系BC的原点）的加速度，作用在每个腿2上的地板反作用力和位置其作用点的三维量被掌握。使用通过将加速度，地板反作用力及其作用点的位置以及每个2的对应刚体的位置/姿势投影到腿平面上而获得的二维量来估计作用在腿部的关节上的力矩每一条腿都基于一个逆动态模型。考虑到双足步行体的三维运动，可以确保关节力矩的估计值的稳定性，同时确保估计每个腿的弯曲和拉伸方向的关节力矩的精度。

5. 发明授权

US07698020B2 Method of estimating joint moment of two-legged walking mobile body 失效
标题翻译：估计双腿步行移动体关节力矩的方法
公开(公告)号：US07698020B2
公开(公告)日：2010-04-13
申请号：US10564069
申请日：2004-06-29
申请人： Masakazu Kawai , Yasushi Ikeuchi
发明人： Masakazu Kawai , Yasushi Ikeuchi
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： Displacements of respective joints corresponding to respective joint elements (J9 and the like) of a rigid link model (S1) representing a two-legged walking mobile body (1) are sequentially grasped. Also at the same time, values, in a body coordinate system (BC), of an acceleration vector of the origin of the body coordinate system (BC) fixed to a waist (6) as a rigid element, a floor reaction force vector acting on each leg (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moments respectively generated in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg (2) are sequentially estimated based on an inverse dynamics model using the body coordinate system. The estimation accuracy of the joint moments of the leg can be enhanced by reducing arithmetic processing using tilt information of the two-legged walking mobile body relative to the gravity direction as much as possible.
摘要翻译：对应于表示双脚行走移动体（1）的刚性连接模型（S1）的各个关节元件（J9等）的各个关节的位移被顺序地抓住。同时，在身体坐标系（BC）中，固定到作为刚性元件的腰部（6）的身体坐标系（BC）的原点的加速度矢量的值，作用的地板反作用力矢量在每个腿（2）上，顺序地掌握地板反作用力矢量的施加点的位置矢量。利用所掌握的值，基于使用逆向动力学模型，依次估计在每个腿（2）的踝关节（13），膝关节（14）和髋关节（9）中分别产生的关节力矩身体坐标系。可以通过尽可能地减少使用双腿行走移动体相对于重力方向的倾斜信息的运算处理来增强腿的关节力矩的估计精度。

6. 发明授权

US07278954B2 Generated torque control method for leg body exercise assistive apparatus 失效
标题翻译：脚踏运动辅助装置的转矩控制方法
公开(公告)号：US07278954B2
公开(公告)日：2007-10-09
申请号：US10597733
申请日：2005-02-18
申请人： Masakazu Kawai , Yasushi Ikeuchi
发明人： Masakazu Kawai , Yasushi Ikeuchi
IPC分类号： A63B21/00 , A63B22/00
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：一种生成的用于腿部运动辅助装置的扭矩控制方法，其使得人可以通过减轻腿部运动辅助的重量尽可能多地进行腿部运动以使得该人不佩戴腿部运动辅助装置附在人身上的人的器具。假设没有佩戴辅助装置（1）的人（A）在人的腿部运动期间进行与佩戴腿部运动辅助装置（1）的人（A）的腿部运动相同的运动（ A），估计在人（A）的腿的每个关节中产生的人侧关节时刻，并且假设辅助装置（1）独立地进行与腿部相同的运动运动时，估计在辅助装置（1）的腿部的关节区域（4），（6）和（10）中产生的装置侧关节力矩。将设备侧接头力矩的推定值作为转矩产生机构（18），（19），（20）的基准转矩，根据人机接合力矩的估计值，在转矩产生装置（18），（19）和（20）中产生与基准转矩相关的侧关节力矩。

7. 发明授权

US07217247B2 Gravity compensation method in a human assist system and a human assist system with gravity compensation control 有权
标题翻译：人体辅助系统中的重力补偿方法和重力补偿控制的人力辅助系统
公开(公告)号：US07217247B2
公开(公告)日：2007-05-15
申请号：US10655460
申请日：2003-09-05
申请人： Behzad Dariush , Yasushi Ikeuchi , Masakazu Kawai
发明人： Behzad Dariush , Yasushi Ikeuchi , Masakazu Kawai
IPC分类号： A61B5/103 , G06F19/00 , G01L5/00
CPC分类号： A61H1/00 , A61H2001/0211 , A63B21/00181 , B25J9/0006 , B62D57/032
摘要： A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory. The controller is configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be delivered to the joint to compensate for the moment due to gravitational acceleration at the joint.The method provides a natural subdivision between the voluntary actuators which are responsible for forward progression of motion and the assist actuators which are responsible for preserving static equilibrium. This subdivision may mitigate the interference between voluntary control and artificial control.
摘要翻译：提供一种用于获得施加于人体关节的辅助扭矩的方法，在用于向人体关节施加辅助扭矩以减轻肌肉负荷的人辅助系统和人体辅助系统中的方法。该方法包括基于每个段上的力和力矩平衡的方程，由于重力而获得作用在每个人体节段的关节上的力矩的步骤。该方法还包括以下步骤：获得施加到接头上的辅助扭矩以补偿作用在接头上的重力作用的力矩。人体辅助系统包括用于向关节传递辅助扭矩的马达和用于驱动马达的控制的马达驱动器。该系统还包括用于确定辅助扭矩的期望值的控制器，包括处理器和存储器。控制器被配置为基于重力作用于每个人节的关节上的力矩，基于每个段上的力和力矩平衡方程，然后获得要传递到关节的辅助扭矩以补偿力矩由于接头处的重力加速度。该方法提供自主执行器之间的自然细分，负责运动的正向运动和负责保持静态平衡的辅助致动器。这种细分可以减轻自愿控制和人工控制之间的干扰。

8. 发明申请

US20070054777A1 Generated torque control method for leg body exercise assistive apparatus 失效
公开(公告)号：US20070054777A1
公开(公告)日：2007-03-08
申请号：US10597733
申请日：2005-02-18
申请人： Masakazu Kawai , Yasushi Ikeuchi
发明人： Masakazu Kawai , Yasushi Ikeuchi
IPC分类号： A63B15/02 , A63B22/00 , A63B71/00
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).

9. 发明授权

US06971267B2 Method and processor for obtaining moments and torques in a biped walking system 有权
标题翻译：用于在双足步行系统中获得力矩和扭矩的方法和处理器
公开(公告)号：US06971267B2
公开(公告)日：2005-12-06
申请号：US10642478
申请日：2003-08-15
申请人： Masakazu Kawai , Yasushi Ikeuchi , Behzad Dariush
发明人： Masakazu Kawai , Yasushi Ikeuchi , Behzad Dariush
IPC分类号： B25J5/00 , B62D57/032 , A61B5/22
CPC分类号： B62D57/032
摘要： A method and processor for obtaining torques to be applied to joints of a leg of a biped walking system are provided. The method comprises the steps of obtaining moments acting around the joints of the leg, using the vertical component of the ground reaction force acting on the leg at the point of application of the ground reaction force, the vertical components of forces acting on the joints of the leg and a term of the acceleration of gravity and without using the horizontal components of the forces acting on the joints of the leg 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 of the leg. The vertical component of the ground reaction force acting on the leg, is obtained based on which leg or legs are in contact with the ground. The processor is configured to perform the above steps.
摘要翻译：提供一种用于获得施加到两足动作系统的腿部的关节的扭矩的方法和处理器。该方法包括以下步骤：使用在施加地面反作用力的作用点处作用在腿上的地面反作用力的垂直分量，作用在地面反作用力上的力的垂直分量腿部和加速重力的术语，并且不使用作用在腿部关节上的力的水平部分和加速度项以外的加速度，并且获得施加到关节的扭矩腿部，基于腿部关节周围的时刻。作用在腿上的地面反作用力的垂直分量基于哪个腿或腿与地面接触而获得。处理器被配置为执行上述步骤。

10. 发明授权

US07017395B2 Method of estimating floor reaction of bipedal movable body 失效
标题翻译：估计双足移动体楼板反应的方法
公开(公告)号：US07017395B2
公开(公告)日：2006-03-28
申请号：US10502727
申请日：2003-01-22
申请人： Masakazu Kawai , Yasushi Ikeuchi
发明人： Masakazu Kawai , Yasushi Ikeuchi
IPC分类号： G01M1/00
CPC分类号： B25J13/085 , B25J13/088 , B62D57/032
摘要： It is determined whether the motion state of legs 2, 2 is a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body 1. If the motion state of legs 2, 2 is the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the leg 2 which is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.
摘要翻译：确定腿部2,2的运动状态是单腿支撑状态还是双腿支撑状态，并且基于双足可移动体的重心的运动方程来估计总楼面反作用力 1。如果脚2,2的运动状态是单腿支撑状态，则将总楼面反作用力的估计值用作落地的腿部2上的地板反作用力的估计值。当运动状态改变为双腿支撑状态时，基于前腿的MP高度和前腿的MP高度之间的预定相关性，从前腿的MP高度估计后腿上的地板反作用力的垂直分量地板反作用力的垂直分量在腿上。

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