Knee joint, posture calculator, method of controlling knee joint, and non-transitory computer-readable medium recording program for controlling knee joint
AssigneeNabtesco Corporation
InventorHiroaki Hashimoto
Life of this patent
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Abstract
A posture calculator that calculates the posture of a moving object based on a first hypercomplex number derived based on a detection result from an angular velocity sensor for detecting an angular velocity of the moving object and a second hypercomplex number that is derived based on a detection result from an angle sensor for detecting an angle of the moving object and that has the same number of terms as that of the first hypercomplex number.
Claims12
A knee joint comprising:
- a thigh connection part to which a socket that fits over a thigh of a user is connected;
- a shank part that is a moving object connected to the thigh connection part and provided rotatably around a predetermined axis;
- a drive auxiliary part that connects the thigh connection part and the shank part and limits or assists rotational movement of the shank part around the predetermined axis with respect to the thigh connection part;
- an angular velocity sensor that detects an angular velocity of the shank part;
- an angle sensor that detects an angle of the shank part with respect to a coordinate system at rest;
- a posture calculator that calculates a posture of the moving object based on a first hypercomplex number derived based on a detection result from the angular velocity sensor for detecting an angular velocity of the moving object and a second hypercomplex number that is derived based on a detection result from the angle sensor for detecting an angle of the moving object and that has the same number of terms as that of the first hypercomplex number;
- and
- a control unit that controls the drive auxiliary part based on a calculation result from the posture calculator, wherein
- the posture calculator calculates a posture of the shank part based on the first hypercomplex number that is derived based on the detection result from the angular velocity sensor and the second hypercomplex number that is derived based on the detection result from the angle sensor and that has the same number of terms as that of the first hypercomplex number.
A method of controlling a knee joint which includes:
- a thigh connection part to which a socket that fits over a thigh of a user is connected;
- a shank part that is connected to the thigh connection part and provided rotatably around a predetermined axis;
- a drive auxiliary part that connects the thigh connection part and the shank part and limits or assists rotational movement of the shank part around the predetermined axis with respect to the thigh connection part;
- an angular velocity sensor that detects an angular velocity of the shank part;
- an angle sensor that detects an angle of the shank part with respect to a coordinate system at rest;
- a posture calculation unit that calculates a posture of the shank part based on a first hypercomplex number that is derived based on a detection result from the angular velocity sensor and a second hypercomplex number that is derived based on a detection result from the angle sensor and that has the same number of terms as that of the first hypercomplex number;
- and
- a control unit that controls the drive auxiliary part based on a calculation result from the posture calculation unit, the method comprising:
- deriving a first hypercomplex number based on a detection result from the angular velocity sensor and deriving a second hypercomplex number that has the same number of terms as that of the first hypercomplex number based on a detection result from the angle sensor;
- calculating the posture of the knee joint based on the first hypercomplex number and the second hypercomplex number;
- and
- controlling the drive auxiliary part based on the calculated posture of the knee joint.
A non-transitory computer-readable medium recording a program for controlling a posture calculator, wherein the posture calculator calculates a posture of a moving object based on a first hypercomplex number derived based on a detection result from an angular velocity sensor for detecting an angular velocity of the moving object and a second hypercomplex number that is derived based on a detection result from an angle sensor for detecting an angle of the moving object and that has the same number of terms as that of the first hypercomplex number, the program comprising:
- a first derivation module that causes the posture calculator to derive a first hypercomplex number based on the detection result from the angular velocity sensor;
- a second derivation module that causes the posture calculator to derive a second hypercomplex number having a different number of terms from that of the first hypercomplex number based on the detection result from the angle sensor;
- and
- a calculation instruction module that causes the posture calculator to calculate the posture of the knee joint based on a first hypercomplex number and the second hypercomplex number.
Dependencies are inferred from the claim text.