| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method and the like for a motion assistance device that stably assists the knee and gives sufficient walking assistance even in a standing period for walking.SOLUTION: In a control method for controlling a motion assistance device (walking assistance robot S) that is fitted to a knee joint part of the leg of an assisted person 60 during walking on a walking surface and assists motion of the knee joint part accompanied by the walking, motion to extend a knee joint part (5) is assisted continuously by a driving source (21) of the motion assistance device in a standing period in which the leg of the assisted person stands on the walking surface (S3), and in order to cancel a driving source protection function for disconnecting power supply to the driving source after the elapse of predetermined time from suspension of operation of the driving source, assistance given to the extending motion is reduced temporarily in the standing period before predetermined time (S5). |
