WO2016024725A1

WO2016024725A1 - Method and device for calculating segmental moments of inertia by using dynamometer

Info

Publication number: WO2016024725A1
Application number: PCT/KR2015/007193
Authority: WO
Inventors: 신이수; 손종상; 김영호
Original assignee: 연세대학교 원주산학협력단
Priority date: 2014-08-12
Filing date: 2015-07-10
Publication date: 2016-02-18
Also published as: KR101569477B1

Abstract

Disclosed is a method for calculating segmental moments of inertia by using a dynamometer. The method for calculating segmental moments of inertia may comprise the steps of: (a) by using a dynamometer, measuring a first gravitational moment generated by an additional device, and a first rotational moment and a first angular acceleration generated when the additional device is rotated on the rotational shaft; (b) by using the dynamometer, measuring a second gravitational moment generated by the additional device and the segment, and a second rotational moment and a second angular acceleration generated when the additional device and the segment are rotated together on the rotational shaft; (c) calculating the moment of inertia of the additional device; (d) calculating the sum value of the moment of inertia of the segment and the moment of inertia of the additional device; and (e) calculating the moment of inertia of the segment.

Description

Method and apparatus for calculating segment inertia moment using dynamometer

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

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

In order to use the link segment model, anthropometric data such as segment mass and moment of inertia are required. In particular, since most of the human body movement is based on the rotational movement of the joint, the segment moment of inertia is very necessary information for analyzing the body movement.

In connection with the measurement of the moment of inertia, Korean Patent Publication No. 2002-0063646 discloses a "moment of inertia measurement mechanism". However, this is a method of measuring the object to be measured in a jaw (jaw), it was difficult to see a suitable measurement method for human body motion analysis.

On the other hand, the most common method in anthropometric analysis is to use a regression equation derived from inertial parameters measured directly through a cadaver, and Dempster ("Space requirements of the seated operator," Wright-Patterson). Air Force Base, Ohio, 1955) is a typical method using the regression equation. This method is easy and useful to use for general purposes to derive an alternative range of segmental moment of inertia for the joint.

However, this method is to measure the inertia parameter and derive the segment moment of inertia of the dead body, as described above, there was a limit in reflecting the characteristics appearing differently for each joint.

In order to solve the above problems of the prior art, the present application is to provide a segment inertia moment calculation method and apparatus using a dynamometer that can directly calculate the individual segment inertia moment of the joint having different characteristics for each individual.

However, the technical problem to be achieved by the present embodiment is not limited to the technical problems as described above, and other technical problems may exist.

As a technical means for achieving the above technical problem, the method of calculating the segment moment of inertia using the dynamometer according to the first aspect of the present application, (a) an additional device located by using a dynamometer, the center of mass spaced apart from the rotation axis of the dynamometer Measuring a first gravity moment generated by the angle according to the angle, and measuring the first rotation moment and the first angular acceleration generated when the attachment is rotated about the rotation axis with time; (b) using the dynamometer, measure the segment having an axis coinciding with the axis of rotation and the second gravity moment generated by the accessory according to the angle, wherein the segment and the accessory are rotated together about the axis of rotation; Measuring the second rotation moment and the second angular acceleration generated over time according to time; (c) calculating the moment of inertia of the additional device through a moment equilibrium relationship based on the first gravity moment, the first rotation moment, and the first angular acceleration; (d) calculating a sum of the moment of inertia of the segment and the moment of inertia of the attachment device through a moment equilibrium relationship based on the second gravity moment, the second rotation 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 step (c) from the sum calculated in step (d).

In addition, as a technical means for achieving the above technical problem, the segment inertia moment calculation device using the dynamometer according to the second aspect of the present application, the first gravity moment generated by the additional device located at a center of mass away from the rotation axis Measured according to an angle, and measuring the first rotational moment and the first angular acceleration generated when the attachment is rotated about the rotation axis with time, and generated by the segment and the segment having an axis coinciding with the rotation axis. A dynamometer for measuring a second gravitational moment to be measured according to an angle, and a second rotational moment and a second angular acceleration generated in time when the segment and the attachment are rotated about the rotation axis; And calculating an inertia moment of the additional device based on 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. The controller may include a controller configured to calculate a sum of the inertia moment of the segment and the inertia moment of the attachment device, and calculate the inertia moment of the segment by subtracting the inertia moment of the attachment device from the sum value.

According to any one of the above problem solving means of the present application, the moment of inertia of the segment can be easily and accurately calculated by using a combination of the dynamometer and the additional device, and unlike the conventional method of measuring the moment of inertia using a dead body, Moment of inertia can be calculated, it is easy to calculate the individual moment of inertia that appears different for each individual.

1 is a flowchart of a method of calculating a segment moment of inertia using a dynamometer according to an embodiment of the present disclosure.

2A and 2B are conceptual views illustrating a method of calculating a segment moment of inertia using a dynamometer according to an embodiment of the present application.

FIG. 3 shows the first angle, the first angular velocity, the first angular acceleration, the first gravity moment, and the first moment of rotation, and the moment of inertia of the attachment, with only the attachment attached to the dynamometer. This is a graph showing the effect over time.

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

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present disclosure. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted for simplicity of explanation, and like reference numerals designate like parts throughout the specification.

Throughout this specification, when a portion is "connected" to another portion, this includes not only "directly connected" but also "electrically connected" with another element in between. do.

Throughout this specification, when a member is located “on” another member, this includes not only when one member is in contact with another member but also when another member exists between the two members.

Throughout this specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding the other components unless specifically stated otherwise. As used throughout this specification, the terms "about", "substantially" and the like are used at, or in the sense of, numerical values when a manufacturing and material tolerance inherent in the stated meanings is indicated, Accurate or absolute figures are used to assist in the prevention of unfair use by unscrupulous infringers. As used throughout this specification, the term "step to" or "step of" does not mean "step for."

Hereinafter, a method of calculating a segment inertia moment using a dynamometer according to an exemplary embodiment of the present application (hereinafter referred to as 'the present segment inertia moment calculation method') will be described.

1 is a flowchart illustrating a method of calculating a segment inertia moment using a dynamometer according to an embodiment of the present disclosure, and FIGS. 2A and 2B are conceptual views illustrating a method of calculating segment inertia moment using a dynamometer according to an embodiment of the present disclosure.

The method of calculating the segment inertia moment may include measuring a first gravity moment, a first rotation moment, and a first angular acceleration with respect to the attachment device 110 (S110), and the attachment device 110 with the segment 10. 2 the gravitational moment, the second rotation moment and the second angular acceleration measuring step (S120), calculating the moment of inertia of the additional device 110 (S130), the moment of inertia of the additional device 110 and the segment 10 Computing the total value (S140), and calculating the moment of inertia of the segment 10 (S150).

Here, steps S110 and S120 may be performed using the dynamometer 100. In addition, steps S130 to S150 may be performed through the controller 200 (shown in FIG. 4 to be described later).

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

Dynamometer 100 (dynamometer) is a device that can directly measure the torque (moment), angular acceleration, etc. generated in the human joint that can be interpreted as a mechanical hinge (hinge jont). In exemplary embodiments, the dynamometer 100 may be a Biodex System 3 Pro (Biodex Medical Systems, US). The commercial dynamometer 100 allows an angular velocity of manual movement up to about 300 degrees / sec, and when the angular velocity to be reached is set at such a fast angular velocity, the intermediate process of reaching the angular velocity will be described later with reference to FIG. As shown in (b), an almost constant acceleration section (time section with equivalent acceleration) may occur.

In addition, the attachment device 110 (attachment) may be referred to as a mechanism that can be attached to the dynamometer 100 separately from the segment 10 or integrally with the segment 10.

Referring to FIG. 2A, except for the segment 10, in step S110, only the additional device 110 is attached to the dynamometer 100 alone. In this case, by attaching the additional device 110 so 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 generated by the gravity of the additional device 110 is applied. 1 gravitational moment (

) Can be measured.

In addition, the first gravity moment is measured according to the angle, which means that the additional device 110 is rotated (

), Depending on arm length (

For example, it may mean that the first gravity moment is changed due to, for example, a plurality of times at a predetermined angular interval. For example, in step S110, the angle range for rotating the additional device 110 may be set, and the first gravity moment that varies according to the angle within the set angle range may be measured.

In step S110, the first gravity moment is measured through a quasi-static passive movement using the dynamometer 100, and the additional device 110 is provided through a dynamic passive movement using the dynamometer 100. The method may include measuring the first rotation moment and the first angular acceleration according to the angle of rotation.

For example, the quasi-static passive exercise may be performed at an ultra low speed of about 1 degree / sec. Through this ultra-low speed rotation, the first gravity moment that changes according to the angle may be measured. In addition, the dynamic passive movement may be, for example, at an angular velocity of about 240 degrees / sec to about 300 degrees / sec, but is not limited thereto. That is, the quasi-static passive motion may mean a very slow rotational motion close to the static state, and the dynamic passive motion may mean a rotational motion (fast manual motion) which is much faster than the quasi-static manual motion. Can be.

In step S110, the quasi-static passive motion is to measure the moment generated by the mass of the additional device 110 according to the angle, the dynamic manual motion is that the additional device 110 can have a constant angular acceleration (equivalent acceleration) It may be said to secure a predetermined time period or more.

In addition, the first rotation moment and the first angular acceleration may be measured according to the rotated angle when the additional device 110 is rotated, and may also be measured according to the time that the rotation of the additional device 110 proceeds. Referring to FIG. 3 to be described later, the dynamometer 100 is an angle at which the additional device 110 is rotated (first angle), angular velocity (first angular velocity) to rotate, angular acceleration (first angular acceleration) during rotation, occurs during rotation The moment (first rotation moment) to be measured can be measured over time.

1 and 2b, the step S120 uses the dynamometer 100 to angle the second gravitational moment generated by the segment 10 having the axis coinciding with the rotation axis 1 and the additional device 110. Measure according to. In operation S120, the second rotation moment and the second angular acceleration generated when the segment 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. For example, the segment 10 may be an arm region (lower arm) around an elbow joint. Alternatively, the segment 10 may be a leg portion around the knee joint. However, the segment 10 may not be limited to the segment of the human body, and various objects that may be modeled as link segments may correspond to the segment 10.

In addition, for example, when the segment 10 is an arm part, coinciding the axes of the rotation axis 1 and the segment 10 means that the rotation axis 1 of the dynamometer 1 and the fire center of the elbow joint are on the same axis line. This may mean that the segment 10 and the dynamometer 100 are disposed to be connected to each other.

Referring to FIG. 2B, in step S120, the segment 10 and the additional device 110 are integrally connected with the dynamometer 100. Through this, the second gravitational moment (

) Can be measured.

In addition, the second gravity moment is measured according to the angle, which means that the angle at which the additional device 110 is rotated (

), Depending on arm length (

,

For example, it may mean that the second gravity moment, which is changed due to), is measured a plurality of times at regular angular intervals. For example, in step S120, an angle range for rotating the segment 10 and the additional device 110 may be set, and the second gravity moment that changes according to the angle within the set angle range may be measured.

Here, the angular range may be set within the maximum movable 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. For example, referring to FIG. 3A, the state where the elbow joint is fully folded may be set to -20 degree, and the state where the elbow joint is bent by 120 degree from 100 degree.

In step S120, the second gravitational moment is measured through a quasi-static manual motion using the dynamometer 100, and the segment 10 and the additional device are provided through a dynamic manual motion using the dynamometer 100. The method may include measuring the second rotation moment and the second angular acceleration according to the angle at which the 110 is rotated.

As described in step S110, the quasi-static passive movement may mean a very slow rotational movement close to the static state, and the dynamic passive movement is a rotational movement (fast manual movement) which is much faster than the quasi-static passive movement. Exercise).

In step S120, the quasi-static passive motion is to measure the moment generated by the mass of the segment 10 and the additional device 110 according to the angle, the dynamic manual motion is the segment 10 and the additional device 110 is It can be said to ensure a predetermined or more time interval that can have a constant angular acceleration (equivalent acceleration) integrally.

In addition, the second rotation moment and the second angular acceleration may be measured according to the rotated angle when the segment 10 and the attachment 110 are integrally rotated together, and the segment 10 and the attachment 110 may be measured. It can be measured according to the time that the rotation of). That is, the dynamometer 100 has an angle (second angle) at which the additional device 110 is rotated, an angular velocity (second angular velocity) that rotates, an angular acceleration (second angular acceleration) during rotation, and a moment generated during rotation (second rotation). Moment) and the like can be measured over time.

In addition, referring to Figure 1, step S130 is a moment equilibrium relationship based on the first gravity moment, the first rotation moment, and the first angular acceleration measured in step S110 (

Calculate the moment of inertia of the additional device 110 through).

Specifically, FIG. 3A is a first angle, FIG. 3B is a first angular velocity, and FIG. 3C is a graph relating to the first angular acceleration. In addition, the graph described as 'Gravity effect' in FIG. 3 (d) is a graph related to the first gravity moment measured during quasi-static manual movement, and the graph described as 'Measured' in the legend is 240 degree / sec. A graph relating to the first rotation moment measured during the manual movement, and the graph described as 'Acceleration effect' in the legend is a graph regarding the moment of inertia of the additional device 110 calculated based on the above measured values.

In addition, FIG. 3 shows 120 degrees of the lower arm of a healthy male (age: 28 years old, mass: 80.8 kg, height: 1.67 m) using the dynamometer 100 called Biodex System 3 Pro (Biodex Medical Systems, US). This is a graph showing the time of each parameter measured while rotating in the angle range of the joint.

Referring to FIG. 3, in step S130, the moment of inertia of the additional device 110 includes the first angular acceleration and the first rotation moment measured in the first time interval (a) determined that the first angular acceleration maintains the equivalent speed. In addition, the first apparatus 110 may be calculated based on a first gravity moment corresponding to an angle at which the additional device 110 is rotated about the rotation axis 1.

Here, the equivalent speed does not only mean that the angular acceleration remains completely constant without change. For example, referring to FIG. 3, it may be said that there is a predetermined variation in the angular acceleration in the first time interval (a). However, when the variation range is within the set tolerance, it may be determined that it is a time interval in which the equivalent acceleration is maintained. Can be.

For example, the moment of inertia of the additional device 110 may include a first angular acceleration and a first rotation moment measured at a specific time point belonging to the first time interval (a) (see FIGS. 3C and 3D), and At this particular point in time, the additional device 110 may be calculated based on the first gravity moment at the first angle (see (a) of FIG. 3). Here, the first gravity moment may be in a state measured according to an angle through a quasi-static manual movement through the dynamometer 100 as described above.

In this way, by substituting the first angular acceleration, the first rotation moment, and the first gravity moment measured for a specific time point and a specific angle into the moment equilibrium equation, the moment of inertia of the additional device 110, which is the only unknown, can be calculated. This moment equilibrium equation will be described in more detail later.

Also, in step S130, the moment of inertia of the additional device 110 may be calculated as an average value for at least some of the first time intervals a.

That is, as described above, the moment of inertia of the additional device 110 may be calculated for a specific time point in the first time interval a, but by calculating the average value of at least some of the first time interval a. The average concept can further reduce errors that can occur in the calculation and calculate the moment of inertia more reliably.

For example, at least some of the first time interval a may be set to the entire first time interval a. Alternatively, at least some sections of the first time section (a) may be set to sections that are determined to be closer to the equivalent speed due to less variation in the angular acceleration of the first time section (a).

Referring to FIG. 1, in step S140, the moment of inertia of the segment 10 and the additional device 110 are provided through a moment equilibrium relationship based on the second gravity moment, the second rotation moment, and the second angular acceleration measured in step S120. Calculate the sum of moments of inertia of.

The above-described step S130 is a step of calculating the moment of inertia of the additional device 110 only, whereas the step S140 is for the case in which the segment 10 and the additional device 110 are integrally rotated, and the segment 10 and the additional device 110 are added. Calculating the sum of the moments of inertia of each device 110.

In the step S140, the sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110, the second angular acceleration and the second rotation moment measured in the second time interval determined that the second angular acceleration maintains the equivalent acceleration In addition, the second segment may be calculated based on a second gravitational moment corresponding to an angle at which the segment 10 and the additional device 110 are rotated together about the rotation axis 1.

As described in step S130, the equivalent speed does not only mean that a completely constant angular acceleration is maintained without change. For example, even if the angular acceleration has a predetermined variation with time, it may be determined that it is a time interval in which the equivalent acceleration is maintained when the variance is within a set tolerance.

For example, the sum of the moments of inertia of each of the segment 10 and the additional device 110 may include the second angular acceleration and the second rotation moment measured at a specific time point belonging to the second time interval, and the segment 10 at this specific time point. And the second gravitational moment at the second angle at which the additional device 110 is located. Here, the second gravity moment may be in a state measured according to the angle through a quasi-static manual movement through the dynamometer 100 as described above.

Thus, by substituting the second angular acceleration, the second rotation moment, and the second gravity moment measured for a specific time point and a specific angle into 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 is added. Can be derived. This moment equilibrium equation will be described in more detail later.

In operation S140, the summation may be calculated as an average of at least some of the second time intervals.

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

Referring to FIG. 1, in step S150, the inertia moment of the segment 10 is calculated by subtracting the inertia moment of the additional device 110 calculated in step S130 from the sum value calculated in step S140.

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

In step S130, the moment of inertia of the additional device 110 may be calculated by Equation 1 below. In addition, in operation S140, the sum may be calculated by Equation 2 below.

[Equation 1]

[Equation 2]

here,

Is the first rotation moment,

Is the first gravity moment,

Is the moment of inertia of the additional device 110, Is the first angular acceleration,

Is the second rotation moment,

Is the second gravitational moment,

Is 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 measured through the step S110. Therefore, if the first angular acceleration is not 0, the moment of inertia of the additional device 110 may be calculated using Equation 1 as shown in Equation 3 below (step S130).

[Equation 3]

In addition, in Equation 2, the second rotation moment, the second gravity moment and the second angular acceleration are values measured through the step S120. Therefore, 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 may be calculated using Equation 2 as shown in Equation 4 below (step S140).

[Equation 4]

The sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110 calculated through Equation 4 (

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

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

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

However, the present segment inertia moment calculating device is a device that can be used to implement the method of calculating the segment inertia moment described above, and the same reference numerals are used for the same or similar components as the above-described salping structure, and overlapping descriptions will be briefly or omitted. Let's do it.

Referring to FIG. 4, the apparatus for calculating the segment moment of inertia includes a controller 200. In addition, the segment moment of inertia calculation device may include a dynamometer (100).

The dynamometer 100 measures the first gravity moment generated by the additional device 110 positioned at a center of mass spaced apart from the rotating shaft 1 according to the angle, and the additional device 110 rotates about the rotating shaft 1. When the first rotation moment and the first angular acceleration generated when the can be measured over time.

Here, the first gravity moment may be measured through a quasi-static passive movement using the dynamometer 100 as described above. In addition, the first rotation moment and the first angular acceleration may be measured according to the angle at which the attachment is rotated through the dynamic manual movement using the dynamometer 100.

In addition, the dynamometer 100 measures the second gravity moment generated by the segment 10 having the axis coinciding with the rotation axis 1 and the additional device 110 according to the angle, and the segment 10 and the additional device 110. ) Can be measured with time the second rotation moment and the second angular acceleration generated when the rotation axis (1) rotated together.

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

The controller 200 may 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. In addition, the controller 200 may 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 rotation moment, and the second angular acceleration.

The controller 200 may calculate the moment of inertia of the segment 10 by subtracting the moment of inertia of the additional device 110 from the sum.

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

The control unit 200 may include the first axis and the first rotation moment measured in the first time section determined that the first angular acceleration maintains the equivalent acceleration, and the additional device 110 may rotate the rotation shaft 1 in the first time section. The moment of inertia of the additional device 110 may be calculated based on the first gravity moment corresponding to the angle rotated about the center.

In this case, the controller 200 may calculate the moment of inertia of the additional device 110 as an average of at least some of the first time intervals. As it has been described in the above method of calculating the segment moment of inertia, detailed description thereof will be omitted.

In addition, the control unit 200 may include the segment 10 and the additional device 110 in the second angular acceleration and the second rotation moment measured in the second time interval and the second time interval determined that the second angular acceleration maintains the equivalent acceleration. The sum of the moment of inertia of the segment 10 and the moment of inertia of the attachment device 110 may be calculated based on the second gravitational moment corresponding to the angle rotated together about the rotation axis 1.

In this case, the controller 200 may calculate the sum as the average value of at least some of the second time intervals. As it has been described in the above method of calculating the segment moment of inertia, detailed description thereof will be omitted.

In addition, the controller 200 may calculate the moment of inertia of the additional device 110 by using

Equations

1 and 3 described above. In addition, the controller 200 may calculate the sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110 by using Equations 2 and 4 described above.

In addition, the control unit 200 is the sum of the moment of inertia of the segment 10 and the moment of inertia of the additional device 110 calculated through Equations 2 and 4 (

Moment of inertia of the additional device 110 calculated through

Equations

1 and 3

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

As described above, according to the present application, the moment of inertia of the segment 10 can be easily and accurately calculated using a combination of the dynamometer 100 and the additional device 110, and a conventional inertia moment measuring method using a dead body Unlike the moment of inertia for the living body can be calculated, the segmented moment of inertia that appears differently for each individual can be easily calculated by personal customization. That is, according to the present application, the moment of inertia of the segment 10 can be calculated by clearly reflecting personal characteristics.

The above description of the present application is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present application. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present application is indicated by the following claims rather than the above description, and it should be construed that all changes or modifications derived from the meaning and scope of the claims and their equivalents are included in the scope of the present application.

To illustrate the symbols of the drawings of the present application may be as follows.

100: dynamometer 110: additional device

200: control unit 10: segment

1: axis of rotation

Claims

(a) Using a dynamometer, the first gravity moment generated by the attachment is located at a distance from the rotation axis of the dynamometer according to the angle, and is generated when the attachment is rotated about the rotation axis. Measuring the first rotation moment and the first angular acceleration with time;

(b) using the dynamometer, measure the segment having an axis coinciding with the axis of rotation and the second gravity moment generated by the accessory according to the angle, wherein the segment and the accessory are rotated together about the axis of rotation; Measuring the second rotation moment and the second angular acceleration generated over time according to time;

(c) calculating the moment of inertia of the additional device through a moment equilibrium relationship based on the first gravity moment, the first rotation moment, and the first angular acceleration;

(d) calculating a sum of the moment of inertia of the segment and the moment of inertia of the attachment device through a moment equilibrium relationship based on the second gravity moment, the second rotation moment, and the second angular acceleration; And

(e) subtracting the moment of inertia of the additional device calculated in step (c) from the sum calculated in step (d) to calculate the moment of inertia of the segment, the segment moment of inertia using a dynamometer Output method.
The method of claim 1,

In step (a),

(a1) measuring the first gravity moment through a quasi-static passive movement using the dynamometer; And

(a2) measuring the first rotation moment and the first angular acceleration according to the angle at which the attachment is rotated through a dynamic manual movement using the dynamometer,

In step (b),

(b1) measuring the second gravitational moment through a quasi-static passive motion using the dynamometer; And

(b2) segment inertia using a dynamometer, including measuring the second rotation moment and the second angular acceleration according to an angle at which the segment and the attachment are rotated through a dynamic manual movement using the dynamometer. Moment calculation method.
The method of claim 1,

In the step (c),

The moment of inertia of the additional device may include a first angular acceleration and a first rotation moment measured in a first time interval determined that the first angular acceleration maintains an equivalent speed, and the additional device moves the rotation axis in the first time period. It is calculated based on the first gravity moment corresponding to the angle rotated about the center,

In step (d),

The sum is a second angular acceleration and a second rotation moment measured in a second time interval in which it is determined that the second angular acceleration maintains the equivalent acceleration, and the segment and the additional device are centered on the rotation axis in the second time period. Segment inertia moment calculation method using a dynamometer, which is calculated based on the second gravity moment corresponding to the angle rotated together.
The method of claim 3,

In the step (c),

The moment of inertia of the additional device is calculated as an average value for at least some of the first time intervals,

In step (d),

The summation value is calculated as an average value for at least some of the second time interval, segment inertia moment calculation method using a dynamometer.
The method of claim 1,

In the step (c), the moment of inertia of the additional device is calculated by the following [Formula 1],

In the step (d), the sum value is calculated by the following [Equation 2], segment inertia moment calculation method using a dynamometer.

[Equation 1]

[Equation 2]

(here,
Is the first rotation moment,
Is the first gravity moment,
Is the moment of inertia of the attachment,
Is the first angular acceleration,
Is the second rotation moment,
Is the second gravity moment,
Is the moment of inertia of the segment,
Is the second angular acceleration)
The first gravitational moment generated by the additional device located at a center of mass away from the rotational axis is measured according to an angle, and the first rotational moment and the first angular acceleration generated when the accessory is rotated about the rotational axis in time. The second gravity moment generated by the segment and the segment having an axis coinciding with the axis of rotation according to the angle, and the segment generated when the segment and the accessory are rotated together about the axis of rotation. A dynamometer measuring the second rotation moment and the second angular acceleration with time; And

The moment of inertia of the additional device is calculated based on 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. Calculating a sum of the moment of inertia of the segment and the moment of inertia of the accessory, and calculating a segment moment of inertia using a dynamometer, including a control unit which calculates the moment of inertia of the segment by subtracting the moment of inertia of the accessory from the sum. Device.
The method of claim 6,

The first gravity moment is measured through a quasi-static passive movement using the dynamometer,

The first rotation moment and the first angular acceleration are measured according to the angle at which the attachment is rotated through a dynamic manual movement using the dynamometer,

The second gravitational moment is measured through quasi-static passive movement using the dynamometer,

The second rotation moment and the second angular acceleration is measured according to the angle at which the segment and the additional device is rotated through a dynamic manual movement using the dynamometer, segment inertia moment calculation device using a dynamometer.
The method of claim 6,

The control unit,

A first angular acceleration and a first rotation moment measured in a first time interval determined that the first angular acceleration maintains an equivalent speed, and an angle at which the additional device is rotated about the rotation axis in the first time period. Calculate 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 determined that the second angular acceleration maintains the equivalent speed, and the segment and the additional device is rotated together about the rotation axis in the second time interval A segment inertia moment calculating device using a dynamometer, which calculates the sum based on a second gravity moment corresponding to an angle.
The method of claim 8,

The control unit,

Calculating the moment of inertia of the additional device as an average value of at least some of the first time intervals;

Segmented moment of inertia using the dynamometer, which calculates the sum as an average value for at least some of the second time interval.
The method of claim 6,

The control unit,

The moment of inertia of the additional device is calculated by the following [Formula 1],

The summation value is calculated by the following [Equation 2], segment inertia moment calculation device using a dynamometer.

[Equation 1]

[Equation 2]

(here,
Is the first rotation moment,
Is the first gravity moment,
Is the moment of inertia of the attachment,
Is the first angular acceleration,
Is the second rotation moment,
Is the second gravity moment,
Is the moment of inertia of the segment,
Is the second angular acceleration)