| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method of a wearable robot which can be used by a user comfortably by suppressing occurrence of hunting.SOLUTION: A control method of a wearable robot worn on a joint part of a user controls a robot joint such that an angle θ1 of a robot joint (joint part 4) returns in a predetermined allowable angle range R when the angle θ1 of the robot joint exceeds the allowable angle range R. When the angle θ1 of the robot joint reaches a predetermined angle θ2 by controlling the robot joint such that the angle θ1 of the robot joint returns in the allowable angle range R, torque is generated in the robot joint such that the angle θ2 of the robot joint is kept in the predetermined angle θ2 for a predetermined period T.SELECTED DRAWING: Figure 2 |
