Torque estimation system for human leg in passive motion using parallel-wire driven mechanism and iterative learning control

Estimation of joint torque is one of the motion analyses for a humans. It has been applied to rehabilitation, virtual reality, sports training and so on. This paper presents the development of a torque estimation system for the human leg in passive motion. This system uses a parallel-wire driven mechanism using two wires and iterative learning control. From the viewpoint of motion range of the human leg, the non-singular area of the proposed system is analyzed in this paper. Finally the usefulness of our proposed method is demonstrated through some experimental results.