反力推定装置及び反力推定方法

摘要

PROBLEM TO BE SOLVED: To provide an apparatus and method for estimating reaction force applied to a subject with high accuracy without using a force sensor.;SOLUTION: An apparatus 1 for estimating reaction force includes: a measurement unit 3 for measuring a posture of a subject; a calculation unit 4 for estimating the reaction force at the contact point from both coordinates of a contact point and a zero moment point to an article of the subject, after calculating the zero moment point of the subject from the gravity acting on the subject and the inertial force acting on a region of the subject being found according to the posture; and a display unit 6 for displaying the direction and size of the reaction force estimated by the calculation unit 4.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2019,JPO&INPIT