| 摘要 |
PROBLEM TO BE SOLVED: To use a functional electric signal as an input signal of stimulation, an electric stimulation signal for rehabilitation, etc., by finding false tensile force by estimating a track of a body portion and a muscle electric signal by an valuation standard using an acceleration estimation model. SOLUTION: A muscle electric signal is detected from a human arm 1 of a healthy person and amplified by a muscle electric signal amplifier 2. The amplified muscle electric signal is filtered by a filter 3, and false tensile force is extracted. Tensile force is estimated by a muscle tensile force estimation circuit 4 from the extracted false tensile force, joint torque is estimated by a joint torque estimation circuit 5 in accordance with the tensile force, and a motion track is formed by an equation of motion 6. A body model is constituted by the filter 3, the muscle tensile force estimation circuit 4, the joint torque estimation circuit 5 and the equation of motion 6. A terminal end condition at a starting point and a terminal point is satisfied by using this body model, and a track to minimize an evaluation function of the false tensile force is computed by repeating computation. |
