Host: The Japan Society of Mechanical Engineers
Name : Dynamics and Design Conference 2023
Date : August 28, 2023 - August 31, 2023
This paper proposes an estimation method of body segment parameters (mass, moment of inertia and center of gravity position). This method consists of the Extended Kalman filter. The nonlinear state equation is established by the compensation values of the body segment parameters, and the nonlinear measurement equation is established by the inverse dynamics using the Newton-Euler method. In this study, we conducted the simulation using the four-segment and three-joint model. The estimation results indicated the compensated joint torque (Joint reaction and moment). The effectiveness of this method was indicated by the analytical results.
