KR101569477B1 - Method and Device for calculating inertia moment of segment using dynamometer - Google Patents

Abstract

The present invention relates to a method to calculate a segment inertia moment by using a dynamometer. The method includes a step (a) of measuring a first gravity moment, generated by an additional device, and a first rotation moment and a first angular acceleration, generated when the additional device is rotated around a rotation shaft, by using a dynamometer; a step (b) of measuring a second gravity moment, generated by a segment and the additional device, and a second rotation moment and a second angular acceleration, generated when the segment and the additional device are rotated around the rotation shaft; a step (c) of calculating an inertia moment of the additional device; a step (d) of calculating an added value of the inertia moment of the additional device and an inertia moment of the segment; and a step (e) of calculating the inertia moment of the segment.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for calculating moment of inertia using a dynamometer,

The present invention relates to a method and an apparatus for calculating a moment of inertia of a segment using a dynamometer.

The link-segment model in human motion analysis is a representation of the human body as mechanically interconnected rigid bodies and is applied to understanding, analyzing and diagnosing various movements in the fields of medicine and sports science.

To use this link segment model, anthropometric data such as segment mass or moment of inertia is required. Especially, most of the human body motion is based on the rotational motion of the joint, so the segment moment of inertia is very necessary information to analyze the human body motion.

In connection with the measurement of the moment of inertia, Korean Utility Model Publication No. 2002-0063646 discloses an " inertial moment measuring mechanism ". However, this is a method of measuring a subject by fixing the subject to a jaw, and it was difficult to see it as a measurement method suitable for human motion analysis.

On the other hand, the most common method for analyzing human motion is to use a regression equation derived from the inertial parameters measured directly through the cadaver, Dempster ("Space requirements of the seated operator," Wright-Patterson Air Force Base, Ohio, 1955). This method is easy to use and useful for general purpose of deriving an alternative range of segment moment of inertia for a given joint.

However, as described above, this method measures the inertia parameter of the carcass and derives the segment moment of inertia, so that there is a limit to reflect characteristics that are different for each individual.

It is an object of the present invention to provide a method and an apparatus for calculating a moment of inertia of a joint using a dynamometer capable of directly calculating a joint moment of inertia of a joint having different characteristics from one person to another, do.

As a technical means for achieving the above object, a method for calculating a moment of inertia using a dynamometer according to the first aspect of the present invention is a method for calculating a moment of inertia using a dynamometer, comprising the steps of: (a) Measuring a first gravity moment generated by the first gravity moment by an angle and measuring a first rotation moment and a first angular acceleration generated when the attachment device is rotated about the rotation axis with time; (b) using the dynamometer to measure, with an angle, a segment having an axis coinciding with the rotation axis and a second gravity moment generated by the addition device, the segment and the attachment device rotating together Measuring a second rotation moment and a second angular acceleration that are generated when the first angular acceleration is generated; (c) calculating an inertial moment of the additional device based on the first gravity moment, the first rotation moment, and the first angular acceleration based on a moment balance relationship; (d) calculating a sum of the moment of inertia of the segment and the moment of inertia of the additional device based on the second gravity moment, the second rotational moment, and the second angular acceleration; And (e) calculating the moment of inertia of the segment by subtracting the moment of inertia of the additional device calculated in the step (c) from the sum calculated in the step (d).

As a technical means for achieving the above object, the present invention provides a segment inertia moment calculating apparatus using a dynamometer according to the second aspect of the present invention, wherein a first gravity moment generated by an additional device, Measuring a first rotation moment and a first angular acceleration, which are generated when the attachment device is rotated about the rotation axis, according to time, and a segment having an axis coinciding with the rotation axis, A dynamometer for measuring a second gravity moment according to an angle and measuring a second rotation moment and a second angular acceleration generated when the segment and the addition device are rotated together about the rotation axis, And calculating the moment of inertia of the attachment device based on the first gravity moment, the first rotation moment, and the first angular acceleration, and calculating the second gravity moment, the second rotation moment, and the second angular acceleration based on the first gravity moment, And a control unit for calculating a sum of the moment of inertia of the segment and the inertia moment of the additional device and calculating the moment of inertia of the segment by subtracting the moment of inertia of the additional device from the sum.

According to the above-mentioned problem solving means of the present invention, it is possible to easily and accurately calculate the moment of inertia of a segment by using a combination of a dynamometer and an additional device. Unlike the conventional method of measuring the moment of inertia, Can be achieved, and the segment moment of inertia, which appears differently for each individual, can be easily calculated in a personalized manner.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flowchart of a method for calculating a moment of inertia using a dynamometer according to an embodiment of the present invention.
FIGS. 2A and 2B are conceptual diagrams for explaining a method of calculating a segment inertia moment using a dynamometer according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of an embodiment of a dynamometer in which only an additional device is attached to the dynamometer and the first angular velocity, the first angular velocity, the first angular velocity, the first gravity effect, and the first rotation moment, effect over time in accordance with time.
4 is a block diagram for explaining a segment inertia moment calculating apparatus using a dynamometer according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when a part is referred to as being "connected" to another part, it is not limited to a case where it is "directly connected" but also includes the case where it is "electrically connected" do.

Throughout this specification, when a member is " on " another member, it includes not only when the member is in contact with the other member, but also when there is another member between the two members.

Throughout this specification, when an element is referred to as "including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise. The terms "about "," substantially ", etc. used to the extent that they are used throughout the specification are intended to be taken to mean the approximation of the manufacturing and material tolerances inherent in the stated sense, Accurate or absolute numbers are used to help prevent unauthorized exploitation by unauthorized intruders of the referenced disclosure. The word " step (or step) "or" step "used to the extent that it is used throughout the specification does not mean" step for.

Hereinafter, a method for calculating a segment inertia moment using a dynamometer according to an embodiment of the present invention will be described.

FIG. 1 is a flowchart illustrating a method of calculating a moment of inertia using a dynamometer according to an embodiment of the present invention. FIGS. 2A and 2B are conceptual diagrams illustrating a method of calculating a moment of moment of inertia using a dynamometer according to an embodiment of the present invention.

The segment inertia moment calculating method includes a step S110 of measuring a first gravity moment, a first rotation moment and a first angular acceleration with respect to the additional device 110, a step (S110) of adding device 110, A step S130 of calculating the moment of inertia of the additional device 110, a step S130 of calculating the moment of inertia of the additional device 110 and the integral angular moment of the segment 10, Calculating a sum (S140), and calculating a moment of inertia of the segment (S150).

Here, steps S110 and S120 may be performed using the dynamometer 100. Also, steps S130 through S150 may be performed through the control unit 200 (shown in FIG. 4 described later).

1 and 2A, in step S110, a first gravity moment generated by the additional device 110 located at a center of mass from the rotation axis 1 of the dynamometer 100 is calculated using the dynamometer 100 Measure by angle. In step S110, the first rotation moment and the first angular acceleration generated when the additional device 110 is rotated about the rotation axis 1 are measured with time.

The dynamometer 100 is a device capable of directly measuring torque (moment) and angular acceleration generated in a human joint, which can be interpreted as a mechanical hinge joint. Illustratively, the dynamometer 100 may be a Biodex System 3 Pro (Biodex Medical Systems, US). This commercial dynamometer 100 allows an angular velocity of manual motion to be up to about 300 degrees / sec, and when an angular velocity to be reached is set at such a fast angular velocity, as an intermediate process of reaching the angular velocity, (a time interval having an equivalent speed) may occur as shown in Fig. 5 (b).

The attachment device 110 may be attached to the dynamometer 100 separately from the segments 10 or integrated with the segments 10 to be utilized.

)가 측정될 수 있다.Referring to FIG. 2A, in step S110, except for the segments 10, only the additional device 110 is attached to the dynamometer 100 by itself. At this time, by attaching the additional device 110 such that the center of mass of the additional device 110 is spaced apart from the rotation axis 1 by a predetermined distance la, the gravity acts on the mass of the additional device 110, 1 Gravity moment

) Can be measured.

)에 따라 변화되는 팔길이(

)로 인해 달라지는 제1 중력모멘트를 이를 테면 일정 각도 간격으로 복수회 측정하는 것을 의미할 수 있다. 예시적으로, S110 단계에서는 부가장치(110)를 회전시킬 각도범위를 설정하고, 그 설정된 각도범위 내에서 각도에 따라 변화되는 제1 중력모멘트를 측정할 수 있다.The fact that the first gravity moment is measured in accordance with the angle means that the angle at which the additional device 110 is rotated

) Of the arm length

The first gravity moment may be measured a plurality of times at a predetermined angular interval. Illustratively, in step S110, an angle range for rotating the additional device 110 is set, and the first gravity moment, which varies with the angle within the set angle range, can be measured.

In operation S110, the first gravity moment is measured through a quasi-static passive movement using the dynamometer 100, and the second gravity moment is measured through a dynamic passive motion using the dynamometer 100, And measuring a first rotational moment and a first angular acceleration according to an angle at which the first angular velocity is rotated.

By way of example, quasi-static passive motion can be achieved at an ultra-low speed of 1 degree / sec. The first gravity moment, which varies with the angle, can be measured through this ultra low speed rotation. The dynamic passive motion may be, for example, an angular velocity of about 240 degrees / sec to 300 degrees / sec, but is not limited thereto. In other words, quasi-static passive motion can mean very slow rotational motion close to static, and dynamic passive motion means rotational movement (fast passive motion) at a much higher speed than quasi-static passive motion .

In step S110, the quasi-static passive motion is for measuring the moment generated by the mass of the additional device 110 according to the angle, and the dynamic passive motion is for the additional device 110 to have a constant angular velocity (equivalent velocity) It can be said that it is for securing a predetermined time period or more.

In addition, the first rotation moment and the first angular acceleration can be measured according to the rotation angle when the additional device 110 is rotated, and can be measured according to the progress of the rotation of the additional device 110. Referring to FIG. 3, the dynamometer 100 includes an angle (first angle), a rotational angular velocity (first angular velocity), an angular acceleration (first angular velocity) at the time of rotation, (First rotation moment), etc., can be measured in accordance with the passage of time.

1 and 2B, in step S120, the second gravity moment generated by the additional unit 110 and the segments 10 having an axis coinciding with the rotation axis 1 is measured using the dynamometer 100, . In step S120, the second rotation moment and the second angular acceleration generated when the segments 10 and the additional device 110 are rotated together about the rotation axis 1 are measured with time.

The segment 10 may be a segment of the human body. Illustratively, the segment 10 may be an arm portion (lower arm) about the elbow joint. Or the segment 10 may be a leg region about the knee joint. However, the segments 10 are not limited to these human segments, and various objects that can be modeled as link-segments may correspond to the segments 10.

The reason why the axis of the rotary shaft 1 and the axis of the segment 10 are aligned when the segment 10 is the arm portion is that the rotational axis 1 of the dynamometer 1 and the arc center of the elbow joint are located on the same axis And the dynamometer 100 may be arranged so as to be mutually linked.

)가 측정될 수 있다.Referring to FIG. 2B, in step S120, the segments 10 and the additional device 110 are integrally connected to the dynamometer 100 together. Thus, the second gravity moment (

) Can be measured.

)에 따라 변화되는 팔길이(

,

)로 인해 달라지는 제2중력모멘트를 이를 테면 일정한 각도 간격으로 복수회 측정하는 것을 의미할 수 있다. 예시적으로, S120 단계에서는 분절(10)과 부가장치(110)를 함께 회전시킬 각도범위를 설정하고, 그 설정된 각도범위 내에서 각도에 따라 변화되는 제2 중력모멘트를 측정할 수 있다.The fact that the second gravity moment is measured in accordance with the angle means that the angle at which the additional device 110 rotates

) Of the arm length

,

The second gravity moment may be measured a plurality of times at a predetermined angular interval. Illustratively, in step S120, an angle range for rotating the segments 10 and the additional device 110 together is set, and the second gravity moment, which changes in accordance with the angle, can be measured within the set angle range.

Here, the angular range may be set within the maximum operating range of the segment 10 to be measured. For example, when the segment 10 is an arm portion (lower arm), the angle range for rotating the segment 10 and the additional device 110 may be set to 120 degrees. Illustratively, referring to FIG. 3 (a), the elbow joint may be bent at an angle of -20 degrees, and the angle of the elbow joint may be set at 100 degrees.

The step S120 may include measuring a second gravity moment through a quasi-static manual movement using the dynamometer 100 and measuring the second gravity moment using the dynamometer 100, And measuring a second rotation moment and a second angular acceleration according to an angle at which the rotation shaft 110 is rotated.

As described in step S110, the quasi-static passive motion may mean a very slow rotational motion that is close to a static state, and the dynamic passive motion may be a rotational motion that occurs at a much faster speed than the quasi-static passive motion Movement).

In step S120, the quasi-static passive motion is for measuring a moment generated by the mass of the segment 10 and the additional device 110 according to the angle, and the dynamic passive motion is performed by the segment 10 and the addition device 110 It is possible to secure a predetermined or longer time interval that can integrally have a constant angular acceleration (equivalent speed).

The second rotation moment and the second angular acceleration can be measured according to the rotated angle when the segment 10 and the additional device 110 are integrally rotated together and the segment 10 and the additional device 110 ) Can be measured according to the progress of rotation. That is, the dynamometer 100 calculates the angle of rotation (second angle), the angular velocity of rotation (second angular velocity), the angular acceleration (second angular acceleration) at the time of rotation, Moment) can be measured according to the flow of time.

)를 통해 부가장치(110)의 관성모멘트를 산출한다.Referring to FIG. 1, step S130 may be performed based on the first gravity moment, the first rotation moment, and the first angular acceleration measured in step S110,

The inertia moment of the additional device 110 is calculated.

FIG. 3 is a schematic diagram of an embodiment of a dynamometer in which only an additional device is attached to the dynamometer and the first angular velocity, the first angular velocity, the first angular velocity, the first gravity effect, and the first rotation moment, effect over time in accordance with time.

3 (a) is a first angle, Fig. 3 (b) is a first angular velocity, and Fig. 3 (c) is a graph relating to a first angular acceleration. 3 (d) is a graph showing the first gravity moment measured during quasi-static passive motion, and the graph labeled 'Measured' in the legend shows a dynamic A graph of the first rotation moment measured during manual movement and a graph of 'Acceleration effect' in the legend is a graph relating to the moment of inertia of the additional device 110 calculated on the basis of the above measured values.

3 is a graph showing the results obtained by using a dynamometer 100 of Biodex System 3 Pro (Biodex Medical Systems, US) described above to measure the lower arm of a healthy male (age: 28 years, mass: 80.8 kg, height: 1.67 m) (Joint motion range) of each of the parameters measured with respect to time.

3, in step S130, the moment of inertia of the additional device 110 is calculated based on the first angular velocity and the first rotational moment measured in the first time period (a), which is determined to maintain the first angular velocity, And can be calculated based on the first gravity moment corresponding to the angle at which the additional device 110 is rotated about the rotation axis 1 in the first time period (a).

Here, the equivalent speed does not mean that the acceleration is kept completely constant without fluctuation. For example, referring to FIG. 3, it is assumed that there is a predetermined variation in the angular acceleration in the first time interval (a), but when the variation width is within the set tolerance, it is determined that the equivalent velocity is maintained in the time interval .

Illustratively, the moment of inertia of the additional device 110 is determined by the first angular acceleration and the first rotational moment (see (c) and (d) of FIG. 3) measured at a particular time point belonging to the first time interval And can be calculated based on the first gravity moment at the first angle (see Fig. 3 (a)) at which the additional device 110 is located at this specific point in time. Here, the first gravity moment may be measured in accordance with an angle through quasi-static passive motion through the dynamometer 100 as described above.

The moment of inertia of the additional device 110, which is the only unknown, can be calculated by substituting the first angular acceleration, the first rotation moment and the first gravity moment measured for the specific time and the specific angle into the moment equilibrium equation. Such moment balance equations will be described later in more detail.

Also, illustratively, in step S130, the moment of inertia of the additional device 110 may be calculated as an average value for at least a part of the first time period (a).

That is, as described above, the moment of inertia of the additional device 110 may be calculated at a specific point in time of the first time interval (a), but may be calculated as an average value of at least a part of the first time interval (a) Through the concept of the mean, it is possible to further reduce the errors that occur in the calculation and to calculate the moment of inertia more reliably.

For example, at least a part of the first time period (a) may be set as the whole of the first time period (a). Or the first time interval (a) may be set as a period in which it is determined that the fluctuation range of the angular acceleration in the first time interval (a) is small and is closer to the equivalent velocity.

1, in step S140, the moment of inertia of the segment 10 and the angular momentum of the additional device 110 are calculated based on the second gravity moment, the second rotation moment, and the second angular acceleration measured in step S120, Is calculated.

The step S130 is a step of calculating the moment of inertia of the additional device 110 only while the step S140 corresponds to the case where the segments 10 and the additional device 110 are integrally rotated. And calculating the sum of the moment of inertia of each of the apparatuses 110. [

The sum of the moment of inertia of the segment 10 and the moment of inertia of the ancillary apparatus 110 is calculated by subtracting the sum of the second angular acceleration and the second rotation moment measured in the second time period, And a second gravity moment corresponding to an angle at which the segment 10 and the additional device 110 are rotated together about the rotary shaft 1 in the second time period.

As described in step S130, the equivalent speed does not mean that the constantly constant angular acceleration is maintained without fluctuation. For example, even if the angular acceleration has a predetermined variation with time, if the variation range is within the set tolerance, it can be determined that the equivalent velocity is maintained in the time interval.

Illustratively, the summation of the moments of inertia of each of the segments 10 and the additional device 110 may include a second angular acceleration and a second rotational moment measured at a particular time point belonging to the second time period, And the second gravity moment at the second angle at which the additional device 110 is located. Here, the second gravity moment may be measured according to an angle through quasi-static passive motion through the dynamometer 100 as described above.

By adding the second angular acceleration, the second rotation moment and the second gravity moment measured for the specific time and the specific angle to the moment equilibrium equation, the sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110 Can be derived. Such moment balance equations will be described later in more detail.

In step S140, the summed value may be calculated as an average value for at least a part of the second time interval.

That is, as described above, the moment of inertia of the additional device 110 may be calculated at a specific time point of the second time interval, but may be calculated as an average value of at least a portion of the second time interval, It is possible to further reduce the error that may occur and calculate the moment of inertia more reliably. Since this is similar to that described in step S130, a detailed description will be omitted.

1, in step S150, the inertial moment of the additional device 110 calculated in step S130 is subtracted from the total value calculated in step S140, and the moment of inertia of the segment 10 is calculated.

The method of calculating the moment of inertia of the segment 10 through steps S130 through S150 will be described in detail with reference to the following equations.

In step S130, the moment of inertia of the additional device 110 can be calculated by the following equation (1). In addition, in step S140, the sum value can be calculated by the following equation (2).

[Equation 1]

&Quot; (2) "

는 제1 회전모멘트,

는 제1 중력모멘트,

는 부가장치(110)의 관성모멘트,

는 제1 각가속도,

는 제2 회전모멘트,

는 제2 중력모멘트,

는 분절(10)의 관성모멘트,

는 제2 각가속도이다.here,

Is a first rotation moment,

Is a first gravity moment,

The moment of inertia of the additional device 110,

Is a first angular acceleration,

The second rotation moment,

The second gravity moment,

The moment of inertia of the segment 10,

Is the second angular acceleration.

In Equation (1), the first rotation moment, the first gravity moment, and the first angular acceleration are values measured through step S110. Accordingly, if the first angular acceleration is not 0, the moment of inertia of the additional device 110 can be calculated by Equation (3) as follows (Step S130).

&Quot; (3) "

In Equation (2), the second rotation moment, the second gravity moment, and the second angular acceleration are values measured through step S120. Accordingly, if the second angular acceleration is not 0, the sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110 can be calculated by Equation (2) as follows: S140.

&Quot; (4) "

)에서 수학식 3을 통해 산출된 부가장치(110)의 관성모멘트(

)를 차감하면, 분절(10)의 관성모멘트가 산출될 수 있다(S150 단계).The sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110

) Of the inertia moment of the additional device 110 calculated through Equation (3)

), The moment of inertia of the segment 10 can be calculated (step S150).

Hereinafter, a segment moment of inertia calculation apparatus (hereinafter referred to as " the present segment moment of inertia calculation apparatus ") using the dynamometer according to the embodiment of the present application will be described.

However, the present segmented moment of inertia calculating device is a device that can be used for carrying out the above-described method of calculating the present moment of inertia moment of the segment, and the same reference numerals are used for the same or similar components as those of the previously described configuration, .

4 is a block diagram for explaining a segment inertia moment calculating apparatus using a dynamometer according to an embodiment of the present invention.

Referring to FIG. 4, the present segmented moment of inertia computing device includes a control unit 200. In addition, the present segmented moment of inertia computing device may include a dynamometer 100.

The dynamometer 100 measures the first gravity moment generated by the additional device 110 located at the center of mass from the rotary shaft 1 in accordance with the angle and the additional device 110 rotates about the rotary shaft 1 The first rotation moment and the first angular acceleration which are generated when the first angular acceleration is generated can be measured with time.

Here, the first gravity moment can be measured through quasi-static passive motion using the dynamometer 100 as described above. In addition, the first rotation moment and the first angular acceleration can be measured according to the angle at which the additional device is rotated through the dynamic passive motion using the dynamometer 100.

The dynamometer 100 measures the second gravity moment generated by the additional unit 110 and the segments 10 having the axis coinciding with the rotational axis 1 and measures the angular moment generated by the segments 10 and 110 Is rotated together with the rotary shaft 1 as a center, the second rotation moment and the second angular acceleration can be measured with time.

Here, the second gravity moment can be measured through quasi-static passive motion using the dynamometer 100 as described above. In addition, the second rotation moment and the second angular acceleration can be measured according to an angle at which the segments 10 and the additional device 110 are rotated through dynamic passive motion using the dynamometer 100.

The control unit 200 can calculate the moment of inertia of the additional device 110 based on the first gravity moment, the first rotation moment, and the first angular acceleration. The control unit 200 can calculate the sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110 based on the second gravity moment, the second rotational moment, and the second angular acceleration.

Then, the control unit 200 can calculate the moment of inertia of the segment 10 by subtracting the moment of inertia of the additional device 110 from the sum.

Illustratively, various computing devices may be applied to the controller 200.

The control unit 200 determines that the additional device 110 has detected the rotation angle of the rotary shaft 1 at the first angular acceleration and the first rotation moment measured in the first time interval, The inertia moment of the addition device 110 can be calculated on the basis of the first gravity moment corresponding to the angle of rotation about the center.

At this time, the control unit 200 may calculate the moment of inertia of the additional device 110 as an average value for at least a part of the first time period. This has been described in the calculation method of the segment moment of inertia as described above, and a detailed description thereof will be omitted.

In addition, the controller 200 determines the second angular acceleration and the second rotation moment, which are measured in the second time interval, in which the second angular acceleration is determined to maintain the equivalent velocity, The sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110 can be calculated on the basis of the second gravity moment corresponding to the angle of rotation about the rotary shaft 1. [

At this time, the controller 200 may calculate the sum as an average value for at least a part of the second time interval. This has been described in the calculation method of the segment moment of inertia as described above, and a detailed description thereof will be omitted.

In addition, the control unit 200 can calculate the moment of inertia of the additional device 110 by using the above-described expressions (1) and (3). The control unit 200 can calculate the sum of the moment of inertia of the segment 10 and the moment of inertia of the addition device 110 by using the above-described expressions (2) and (4).

)에서 수학식 1 및 3을 통해 산출된 부가장치(110)의 관성모멘트(

)를 차감하여, 분절(10)의 관성모멘트를 산출할 수 있다.The controller 200 calculates the sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110

) Of the addition device 110 calculated through equations (1) and (3)

), So that the moment of inertia of the segment 10 can be calculated.

As described above, according to the present invention, it is possible to easily and accurately calculate the moment of inertia of the segment 10 using a combination of the dynamometer 100 and the additional device 110, The moment of inertia for the living body can be calculated, so that the moment of the segment inertia which is different for each individual can be easily calculated in a personalized manner. That is, according to the present invention, the moment of inertia of the segment 10 can be calculated by clearly reflecting the individual characteristics.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: Dynamometer 110: Additional device
200: control unit 10: segment
1:

Claims (10)

(a) measuring a first gravity moment generated by an additional device located at a center of mass from a rotation axis of the dynamometer using an angular rate, and when the additional device is rotated around the rotation axis Measuring a first rotational moment and a first angular acceleration with time;
(b) using the dynamometer to measure, with an angle, a segment having an axis coinciding with the rotation axis and a second gravity moment generated by the addition device, the segment and the attachment device rotating together Measuring a second rotation moment and a second angular acceleration that are generated when the first angular acceleration is generated;
(c) calculating an inertial moment of the additional device based on the first gravity moment, the first rotation moment, and the first angular acceleration based on a moment balance relationship;
(d) calculating a sum of the moment of inertia of the segment and the moment of inertia of the additional device based on the second gravity moment, the second rotational moment, and the second angular acceleration; And
(e) calculating a moment of inertia of the segment by subtracting the moment of inertia of the additional device calculated in the step (c) from the sum calculated in the step (d) to calculate a moment of moment of inertia using the dynamometer Calculation method. The method according to claim 1,
The step (a)
(a1) measuring the first gravity moment through a quasi-static passive motion using the dynamometer; And
(a2) measuring the first rotation moment and the first angular acceleration according to an angle at which the additional device is rotated through dynamic manual motion using the dynamometer,
The step (b)
(b1) measuring the second gravity moment through quasi-static passive motion using the dynamometer; And
(b2) measuring the second rotation moment and the second angular acceleration according to an angle at which the segment and the additional device are rotated through dynamic passive motion using the dynamometer, wherein the segment inertia using the dynamometer Moment calculation method. The method according to claim 1,
In the step (c)
Wherein the inertia moment of the additional device is a value obtained by multiplying the first angular acceleration and the first rotational moment measured in the first time interval in which the first angular acceleration is judged to maintain the equivalent velocity and the first rotational moment measured in the first time interval, Is calculated on the basis of a first gravity moment corresponding to an angle of rotation about the center,
In the step (d)
Wherein the sum is calculated based on the second angular acceleration and the second rotation moment measured in the second time interval in which the second angular acceleration is determined to maintain the equivalent velocity and the second angular velocity and the second rotation moment in the second time interval, Is calculated on the basis of a second gravity moment corresponding to an angle that is rotated together with the second gravity moment. The method of claim 3,
In the step (c)
The inertia moment of the additional device is calculated as an average value for at least a part of the first time interval,
In the step (d)
Wherein the sum is calculated as an average value for at least a part of the second time period. The method according to claim 1,
In the step (c), the moment of inertia of the additional device is calculated by the following formula (1)
Wherein in the step (d), the summed value is calculated by the following formula (2).
[Formula 1]

[Formula 2]

(here,

The first rotation moment,

The first gravity moment,

The inertial moment of the additional device,

The first angular acceleration,

The second rotation moment,

The second gravity moment,

Is the moment of inertia of the segment,

Is the second angular acceleration) Measuring a first gravity moment generated by an additional device located at a center of mass from the rotation axis in accordance with an angle and measuring a first rotation moment and a first angular acceleration generated when the attachment device is rotated about the rotation axis, And measuring a second gravitational moment generated by the additional device with an angle, wherein the second gravitational force is generated when the segment and the additional device are rotated together about the rotational axis, A dynamometer for measuring the second rotation moment and the second angular acceleration according to time; And
Calculating an inertia moment of the additional device on the basis of the first gravity moment, the first rotation moment, and the first angular acceleration, and based on the second gravity moment, the second rotation moment, and the second angular acceleration And a control unit for calculating a sum of the moment of inertia of the segment and the moment of inertia of the additional device and calculating the moment of inertia of the segment by subtracting the moment of inertia of the additional device from the sum, Device. The method according to claim 6,
Wherein the first gravity moment is measured through quasi-static passive motion using the dynamometer,
Wherein the first rotation moment and the first angular acceleration are measured according to an angle at which the attachment device is rotated through dynamic passive motion using the dynamometer,
Wherein the second gravity moment is measured through quasi-static passive motion using the dynamometer,
Wherein the second rotational moment and the second angular acceleration are measured according to an angle at which the segment and the additional device are rotated through dynamic passive motion using the dynamometer. The method according to claim 6,
Wherein,
A first angular velocity and a first rotation moment measured in a first time interval in which the first angular velocity is maintained to maintain an equivalent velocity and a second rotation moment corresponding to an angle at which the additional device rotates about the rotation axis in the first time interval Calculates the moment of inertia of the attachment device based on the first gravity moment,
The second angular acceleration and the second rotation moment measured in the second time interval in which the second angular acceleration is determined to maintain the equivalent velocity, and the second time, in which the segment and the additional device are rotated together about the rotation axis And calculates the summation value based on the second gravity moment corresponding to the angle. 9. The method of claim 8,
Wherein,
The inertia moment of the additional device is calculated as an average value for at least a part of the first time interval,
And the summed value is calculated as an average value for at least a part of the second time period. The method according to claim 6,
Wherein,
The inertial moment of the additional device is calculated by the following formula (1)
And the sum is calculated by the following formula (2): " (2) "
[Formula 1]

[Formula 2]

(here,

The first rotation moment,

The first gravity moment,

The inertial moment of the additional device,

The first angular acceleration,

The second rotation moment,

The second gravity moment,

Is the moment of inertia of the segment,

Is the second angular acceleration)

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