Son Jongsang, Ryu Jeseong, Kim Jungyoon, Kim Youngho
Department of Biomedical Engineering and Institute for Convergence Study of Bio-Medical Wellness, Yonsei University (Wonju Campus), Maeji-ri, Heungeop-myeon, Wonju-si, Gangwon-do 220-710, Republic of Korea.
Biomed Mater Eng. 2014;24(6):2447-55. doi: 10.3233/BME-141058.
In this study, a simple method based on the dynamic equation of motion was introduced to determine the moment of inertia using a commercial dynamometer, and an optimization technique was utilized to estimate inertial parameters with the determined moment of inertia. To evaluate the feasibility of the developed method, three different passive speeds (i.e. 240, 270 and 300°/s) were chosen to confirm whether the moment of inertia values are the same irrespective of angular speeds. Moreover, the estimated inertial parameters (i.e., the mass, center of mass and moment of inertia) of the elbow attachment and the disk-like 3 kg-weight were compared with solutions of uniform square cube and solid disk, respectively. As a result, the values of moments of inertia of the elbow attachment were 0.216 ± 0.017, 0.215 ± 0.016 and 0.216 ± 0.017 kg · m(2) at angular speeds of 240, 270 and 300°/s, respectively. The values of the moment of inertia of both the attachment and weight were 0.821 ± 0.054, 0.823 ± 0.058 and 0.824 ± 0.053 kg · m(2) at angular speeds of 240, 270 and 300°/s, respectively. There were no significant differences among the speeds. The estimated inertial parameters of the attachment or the weight were very similar to the theoretical values. Therefore, it is expected that the developed method has the potential to estimate inertial parameters of a human body segment and to improve the accuracy and reliability of the studies on human dynamics.
在本研究中，引入了一种基于运动动力学方程的简单方法，使用商用测力计来确定转动惯量，并利用一种优化技术，根据确定的转动惯量来估计惯性参数。为了评估所开发方法的可行性，选择了三种不同的被动速度（即240、270和300°/秒），以确认转动惯量值是否与角速度无关。此外，分别将肘部附件和3千克盘状重物的估计惯性参数（即质量、质心和转动惯量）与均匀正方体和实心圆盘的解进行了比较。结果，肘部附件在角速度为240、270和300°/秒时的转动惯量值分别为0.216±0.017、0.215±0.016和0.216±0.017千克·米²。附件和重物在角速度为240、270和300°/秒时的转动惯量值分别为0.821±0.054、0.823±0.058和0.824±0.053千克·米²。各速度之间无显著差异。附件或重物的估计惯性参数与理论值非常相似。因此，预计所开发的方法有潜力估计人体节段的惯性参数，并提高人体动力学研究的准确性和可靠性。
