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1. (WO2003002309) METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY, AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY
Latest bibliographic data on file with the International Bureau   

Pub. No.: WO/2003/002309 International Application No.: PCT/JP2002/006467
Publication Date: 09.01.2003 International Filing Date: 27.06.2002
Chapter 2 Demand Filed: 15.11.2002
IPC:
A61B 5/103 (2006.01) ,A61F 2/72 (2006.01) ,A61H 3/00 (2006.01) ,B25J 9/00 (2006.01)
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
B
DIAGNOSIS; SURGERY; IDENTIFICATION
5
Measuring for diagnostic purposes; Identification of persons
103
Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
F
FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2
Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
50
Prostheses not implantable in the body
68
Operating or control means
70
electrical
72
Bioelectric control, e.g. myoelectric
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
H
PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
3
Appliances for aiding patients or disabled persons to walk about
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
Applicants: KAWAI, Masakazu[JP/JP]; JP (UsOnly)
IKEUCHI, Yasushi[JP/JP]; JP (UsOnly)
KATO, Hisashi[JP/JP]; JP (UsOnly)
HONDA GIKEN KOGYO KABUSHIKI KAISHA[JP/JP]; 1-1, Minami-Aoyama 2-chome Minato-ku, Tokyo 107-8556, JP (AllExceptUS)
Inventors: KAWAI, Masakazu; JP
IKEUCHI, Yasushi; JP
KATO, Hisashi; JP
Agent: SATO, Tatsuhiko ; Shinjuku Maynds Tower 16F 1-1, Yoyogi 2-chome Shibuya-ku, Tokyo 151-0053, JP
Priority Data:
2001-21417413.07.2001JP
2002-3920115.02.2002JP
60/300,81527.06.2001US
Title (EN) METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY, AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY
(FR) PROCEDE D'ESTIMATION DES REACTIONS AU SOL DU CORPS D'UN BIPEDE PENDANT UNE MARCHE, ET PROCEDE D'ESTIMATION DES MOMENTS SUR LES ARTICULATIONS DU CORPS D'UN BIPEDE PENDANT UNE MARCHE
Abstract:
(EN) Whether the motion of leg bodies (2) is in a single leg support state or two−leg support state is decided and when it is in a single leg support state, a floor reaction (F) acting on the leg body (2) contacting the ground is estimated on the basis of the equation of motion for the center of gravity (GO) of a bipedal walking body (1). When it is in a two−leg support state, floor reactions(Fr, Ff) acting on the respective leg bodies (2) are estimated on the basis of the equation of motion for the center of gravity (GO) of the bipedal walking body (1) and the relation between the components of floor reactions (Fr, Ff) of each leg body (2) and the position of the ankle (12) of each leg body (2) with respect to the center of gravity (GO) of the bipedal walking body (1). Further, on the basis of an inverse dynamics model using the estimates of the floor reactions (Fr, Ff), the moments acting on the knee joint (10) and hip joint (8) are estimated. Thereby, the floor reactions acting on the leg bodies of a bipedal walking body, such as a human being, and the moments acting on the joints of the leg bodies are grasped accurately in real time by a relatively simple method.
(FR) Lorsqu'il est possible de déterminer que le déplacement d'un corps à deux jambes (2) se fait avec un appui sur une jambe ou avec un appui sur deux jambes, le procédé décrit dans cette invention permet d'estimer une réaction au sol (F) s'appliquant sur la jambe (2) qui entre en contact avec le sol, sur la base de l'équation du déplacement associé au centre de gravité (GO) du corps d'un bipède marchant. Dans la position en appui sur deux jambes, les réactions au sol (Fr, Ff) qui s'appliquent sur les jambes (2) respectives, sont estimées sur la base de l'équation du déplacement associé au centre de gravité (GO) dudit corps (1), et de la relation entre les composantes des réactions au sol (Fr, Ff) de chaque jambe (2) et de la position de la cheville (12) de chaque jambe (2) par rapport au centre de gravité (GO) du corps (1). En outre, sur la base d'un modèle dynamique inverse utilisant les estimations des réactions au sol (Fr, Ff), les moments qui s'appliquent sur l'articulation du genou (10) et sur l'articulation de la hanche (8) sont estimés. Ainsi, les réactions au sol qui s'appliquent sur les jambes du corps d'un bipède, tel que le corps d'un être humain, lors d'une marche, et les moments qui s'appliquent sur les articulations des jambes sont collectés avec précision en temps réel selon un mode de réalisation relativement simple.
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Designated States: AE, AG, AL, AM, AT, AU, AZ, BA, BB, BG, BR, BY, BZ, CA, CH, CN, CO, CR, CU, CZ, DE, DK, DM, DZ, EC, EE, ES, FI, GB, GD, GE, GH, GM, HR, HU, ID, IL, IN, IS, KE, KG, KP, KR, KZ, LC, LK, LR, LS, LT, LU, LV, MA, MD, MG, MK, MN, MW, MX, MZ, NO, NZ, OM, PH, PL, PT, RO, RU, SD, SE, SG, SI, SK, SL, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VN, YU, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (GH, GM, KE, LS, MW, MZ, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (EPO) (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, IT, LU, MC, NL, PT, SE, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)