B-22 パラレルワイヤ駆動機構を用いた脚関節トルク推定システムの設計(バイオメカニクス)

Abstract

Estimation of joint torque is one of motion analyses of humans; it has been applied to virtual reality, sports training, welfare engineering and so on. Especially the estimation of leg's joint torque is very important because the legs are one of the most active and energetic regions for a human life. This paper presents a design method of the leg's joint torque estimation system that adopts a partially constrained parallel wire driven structure. From the viewpoint of parameter scattering of target legs, we demonstrate the decision method of the wire-arrangement and actuators.