FEEDBACK ESTIMATION OF JOINT FORCES AND JOINT MOMENTS

摘要

An apparatus and method for estimating a human joint forces and moments are provided. Net dynamic module determines a simulated workout data. Error correction controller is the error between the motion tracking data measured to the simulated movement data (or desired) makes it close to zero. Error correction controller generates the modified acceleration to the input of the inverse dynamics module. The estimated forces and joint moments, without any error related to calculate higher order derivative of movement data including noise, the tracking of the measured (or desired) motion. ; Joint forces, moments, and estimated net dynamics module, reverse the dynamics module, a controller error correction