DEVICE AND METHOD FOR ESTIMATING MASS MOMENT OF INERTIA OF LIMBS USING STRETCH REFLEX MODEL AND PENDULUM TESTS

摘要

An estimating method of mass inertia moment of a body segment using muscular reflex interpretation and pendulum tests according to an embodiment of the present invention comprises; a step of determining an initial inertia moment of a body segment based on a result of a pendulum test regarding muscular reflex in an estimating device of the mass inertia moment; a step of setting an initial value regarding the angle and angular acceleration of a joint in the estimating device of the mass inertia moment; a step of calculating muscle activity of a muscle based on the length and contractile speed of the muscle which is influenced by the muscular reflex according to the initial value in the estimating device of the mass inertia moment; a step of calculating the muscular strength of the muscle based on the muscle activity in the estimating device of the mass inertia moment; a step of drawing a solution of the equation of motion for the interpretation of the muscular reflex based on the initial inertia moment and the muscular strength by the result of the pendulum test in the estimating device of the mass inertia moment; step of calculating an experiment/interpretation error by comparing the solution of the equation of motion with the result of the pendulum test in the estimating device of the mass inertia moment; and a step of optimizing the inertia moment value by repeating a process which renews the inertial moment value based on the experiment/interpretation error test in the estimating device of the mass inertia moment.