水飞蓟怎么读专利名称：With the purpo which moves the arms and legs due to
想死怎么办
发明人：坂本 武志，榊 泰輔
申请号：JP1997063104
申请日：19970317
公开号：JP4019228B2
公开日：
20071212
社会保障制度专利内容由知识产权出版社提供边防学院
摘要：PROBLEM TO BE SOLVED: To enable highly flexible treatment addressing various symptoms and treating situations by performing an impedance control for individual joints of a body and limbs bad on loads on the joints and angles thereof. SOLUTION: As an embodiment, a CPM apparatus is indicated having three freedoms for joints of knees and thighs. Firstly, a position/attitude command Xd of the tip of the apparatus is converted to a target value θtchm of an angle of a joint in a body and limbs by a joint angle converting ction 101. A reaction (f) associated with a positional deviation between the position of the apparatus and the body and limbs is measured by a force nsor at the tip of the apparatus to be determined as torques on individual joints by a joint load converting ction 105 and a target impedance is t for each joint by an impedance tting part 106 to determine an angular displacement 6θ. Then, the target value θtchm of the joint angle and the angular displacement 6θ are added up to t up a target value θr of each joint angle. The results are converted to a target幽默的说说
position/attitude value of the tip of the apparatus by the position/ attitude converting ction 102 and inputted into a rvo system 103 to drive or control the apparatus.
少女馆申请人：株式会社安川電機
不分彼此
地址：福岡県北九州市八幡西区黒崎城石２番１号国籍：JP
代理人：金田 暢之，伊藤 克博，石橋 政幸
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