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AssigneeNational University Corporation Nara Institute of Science and Technology
InventorsJun Ueda, Tsukasa Ogasawara
Estimating the term…
In one embodiment of the present invention, a driving force calculating device calculates a driving force so that a desired load is applied on a muscle while a power assisting device assists and/or resists a predetermined motion. A driving force calculating section of a driving force calculating device calculates a driving force of each driving section according to a joint torque table on joint torque necessary for a rotational motion and an assigned muscle force table on an assigned muscle force input to a muscle force input section. For the calculation is used a muscle/artificial muscle integrated model data integrally including musculoskeletal model data on a musculoskeletal model of a human and artificial muscle model data on an artificial muscle model of the power assisting device. The driving force is calculated through optimization using Crowninshield performance function under constraint conditions of the joint torque and the assigned muscle force.
A driving force calculating device for calculating a driving force of a driving section of a power assisting device that is worn by a living body having bones with a joint and a muscle and that assists and/or resists a rotational motion of the joint with use of the driving section fixed to the bones across the joint,
A driving force calculating method for calculating a driving force of a driving section of a power assisting device that is worn by a living body having bones with a joint and a muscle and that assists and/or resists a rotational motion of the joint with use of the driving section fixed to the bones across the joint,
Dependencies are inferred from the claim text.