Inertial Parameters Identification of Human Body by Using Time-scale Transformation and Passive Motion

Abstract

We propose a new method to identify inertial parameters of a human body applying passive motion. The method extracts an inertia torque component from total torque components by a joint torque decomposition method based on time-scale transformation. Furthermore, inertia parameters are identified with the extracted inertia torque component. In this paper, we describe the detail of the proposed method, and excute experiments to confirm its effects.