Abstract
We propose a new method to decompose joint torque of multi-joint structures such as humans and robots. In the proposed method, joint torque is decomposed into three components based on time-scale transformation at first. Next, the torque pattern from a rigid body model and the torque patterns from viscosity and elasticity of muscles and reflections are obtained. In this paper, we have described the detail of the proposed method and verified its validity through experimental results. In the experiments, measurement accuracy of the experimental system and the proposed method is confirmed by basic experiments using a dummy arm. Moreover, human torque patterns obtained by two subjects are measured and decomposed into three components though the proposed method.
