公开(公告)号：US20230028793A1

公开(公告)日：2023-01-26

申请号：US17858028

申请日：2022-07-05

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Qin Zhang ,  Jihan Liu ,  Yusheng Chen ,  Caihua Xiong

IPC: A61B5/00 ,  A61B5/11 ,  A61B5/107 ,  B25J9/16 ,  B25J13/08 ,  G06T7/20 ,  G06T7/70

Abstract: The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.

公开(公告)号：US11696687B2

公开(公告)日：2023-07-11

申请号：US17858028

申请日：2022-07-05

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Qin Zhang ,  Jihan Liu ,  Yusheng Chen ,  Caihua Xiong

IPC: A61B5/00 ,  G06T7/70 ,  A61B5/107 ,  A61B5/11 ,  B25J9/16 ,  B25J13/08 ,  G06T7/20 ,  A61B34/00 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B5/0057 ,  A61B5/1071 ,  A61B5/1126 ,  B25J9/1633 ,  B25J9/1653 ,  B25J13/085 ,  G06T7/20 ,  G06T7/70 ,  A61B34/00 ,  A61B90/50 ,  A61B2090/064 ,  G06T2207/30196 ,  G06T2207/30204

Abstract: The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.