Loading patent…
AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorsBehzad Dariush, Victor Ng-Thow-Hing, Darryl Gerard Thelen
Estimating the term…
A system, a method and a computer readable medium are provided for simulating a combined musculoskeletal and augmentation device system. The dynamics model of the combined musculoskeletal and augmentation device system receives computed torques at the joints as inputs and delivers simulated kinematic data of the segments as outputs. The augmentation device controller for control of the augmentation device, receives the simulated kinematic data as inputs and delivers assist torques as outputs. The inverse dynamics model for the musculoskeletal and augmentation device system, receives the simulated kinematic data, desired kinematic data of the segments and the assit torques as inputs and delivers the computed net joint torque and muscle torque. The muscle force and muscle capacity module for checking and adjusting the computed torques, receives the computed torques as inputs and delivers computed torques as outputs after the checking and adjustment.
A simulation system for a combined musculoskeletal and augmentation device system including segments and joints connecting the segments, the simulation system comprising;
A simulation system according to 5, wherein the kinematic data include position data, velocity data and acceleration data and the inverse dynamics model calculates modified accelerations of kinematic data, through non-linear feedback based on desired acceleration data, error between simulated position data and desired position data and error between simulated velocity data and desired velocity data.
A simulation system according to 5, wherein the kinematic data include position data, velocity data and acceleration data and the inverse dynamics model calculates modified accelerations of kinematic data, through non-linear feedback based on error between simulated position data and desired position data and/or error between simulated velocity data and desired velocity data.
A simulation system according to 5, wherein the feedback gains are selected to yield a critically damped response to produce the fastest possible non-oscillatory behavior.
A method for simulating a combined musculoskeletal and augmentation device system including segments and joints connecting the segments, the method comprising the steps of:
A computer readable medium containing a program for simulating a combined musculoskeletal and augmentation device system including segments and joints connecting the segments, the program comprising instructions of:
Dependencies are inferred from the claim text.