FEEDBACK ESTIMATION OF JOINT FORCES AND JOINT MOMENTS

摘要

Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module (415) determines simulated kinematic data. An error correction controller (405) forces tracking error between the simulated kinematic data and measured (or desired) kinematic data to approach zero. The error correction controller (405) generates a modified acceleration for input into an inverse dynamics module (410). The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data .