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NAIST Application NoP04-50



TitleDRIVING FORCE COMPUTING DEVICE, DRIVING FORCE COMPUTING METHOD, MUSCLE FORCE ASSISTING DEVICE, PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM
INVENTORUEDA, Jun; .OGASAWARA, Tsukasa; .
Pub.NoWO/2006/092872Pub Date08.09.2006
International Application NoPCT/JP2005/014346International Application Date 04.08.2005

abstractA driving force computing device for computing a driving force with which the load on a muscle is a desired one when a muscle force assisting device assists the user to make a predetermined movement and/or hinders the user from making it. A driving force computing section (15) of the driving force computing device (1) computes the driving force of each driving part according to a joint torque table (32) containing data on a joint torque needed for a rotating movement and a preset muscle force table (34) containing data on a preset muscle force inputted through a muscle force input section (14). To compute the driving force of each driving part, a muscle /artificial muscle integral model data (25) integrally including skeletal muscle model data (24) on a skeleton muscle model of a human and an artificial muscle model data (23) on an artificial muscle model of the muscle force assisting device is used. A driving force is computed by optimizing it by using the Crowninshield evaluation function under restriction conditions of the joint torque and the preset muscle force.
National PhaseJP 17.08.2007 2007505793 / US 02.06.2008 11885072 (Published: 22.01.2009)