Archive for Декабрь 9th, 2004

Gravity compensation control system and method using multiple feasibility parameters

Дата: Декабрь 9th, 2004 Автор:
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  • Тип контента: Патент
  • Номер документа: 4210
  • Название документа: Gravity compensation control system and method using multiple feasibility parameters
  • Номер (DOI, IBSN, Патент): US2004/0249319A1
  • Изобретатель/автор: Dariush, B.
  • Правопреемник/учебное заведение: Не заполнено
  • Дата публикации документа: 2004-12-09
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://www.google.com/patents/about/10_824_059_Gravity_compe
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

A method for obtaining an assist torque to be applied to a human joint, in a human assist system in order to reduce load on muscles, according to the present invention 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. In one embodiment of the present invention, various criteria are used such a mechanical energy, metabolic energy and/or a stability/equilibrium factor. In addition, the present invention can account for the situation when there is substantially no relative motion between segments of a given joint and thus, where the mechanical energy component of gravity compensation is approximately zero.

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