Development of a Human Joint Torque Estimation System applying Passive Motion with Parallel Wire Driven Mechanisms

Abstract

We develop a system to estimate joint torque of multi-joint structures such as humans and robots. The system consists of a parallel wire driven mechanisms which drives an end point of a multi-joint structure. The joint torque of the structures is estimated by measuring the end point force. We use only geometric relation between the end point and the joint for the estimation. In this paper, we describe a method to estimate joint torque, and verified precision of the system analytically. Lastly, we show some experimental results of estimation of human joint torque.