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Inverse Dynamics of Human Passive Motion Based on Iterative Learning Control

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7 Author(s)
Taniguchi, S. ; R&D Center, Panasonic Electr. Works Co., Ltd., Kadoma, Japan ; Kino, H. ; Ozawa, R. ; Ishibashi, R.
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Estimation of joint torque is an important objective in the analyses of human motion. In particular, many applications seek to discern torque during a desired human motion, which is equivalent to solving the inverse dynamics. The computed torque method is a conventional means of calculating inverse dynamics. The obtained torque, however, invariably includes errors resulting from inexact inertial and viscoelastic parameters. This paper presents a method for solving the inverse dynamics of a human arm passively during tracking. To achieve precise human motion tracking, iterative learning control is used for motion generation. Some experiments that target a human arm are executed to validate the proposed method.

Published in:

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:42 ,  Issue: 2 )

Date of Publication:

March 2012

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