SUN, KUAN CHUN,孙冠群,孫冠群,TSAI, YI JENG,蔡宜政,WU, CHENG HUA,巫震华,巫震華,HU, JWU SHENG,胡竹生
申请号：
TW104139717
公开号：
TWI564129B
申请日:
2015.11.27
申请国别(地区):
TW
年份:
2017
代理人:
摘要：
A method for estimating posture of robotic walking aid comprises: providing a motor controller, a motor encoder and a motor on right and left hip joints, and right and left knee joints of a robotic walking aid, providing an inertial sensor on upper body of the robotic walking aid, wherein the motor controller, the motor encoder, the motor and the inertial sensor are coupled to a control unit； installing the robotic walking aid on a user； inputting the lengths of the upper body, two thighs, two calves, two feet of the robotic walking aid to the control unit, wherein the upper body, two thighs, two calves, two feet form a plurality of points； obtaining an angle of the upper body corresponding to a reference coordinate with the inertial sensor； obtaining angles of those joints with those motor encoders； and calculating 3 dimensional coordinates of each point with a motion model.一種行動輔助機器人之姿態估測方法，其包含：於一行動輔助機器人之左右腿髖關節與膝關節分別設置馬達控制器、馬達編碼器與馬達，於行動輔助機器人之上身軀幹設置慣性感測器，馬達控制器、馬達編碼器、馬達及慣性感測器與控制單元連接；將行動輔助機器人配置於使用者身上；將構成行動輔助機器人之上身軀幹、二大腿、二小腿、二腳掌之長度輸入控制單元，由上身軀幹、二大腿、二小腿、二腳掌構成複數端點；利用慣性感測器計算上身軀幹相對於一參考座標之夾角；利用該等馬達編碼器計算該等關節之角度；以及搭配一運動模型計算各端點的空間座標。
