| 摘要 |
PROBLEM TO BE SOLVED: To provide a motion assisting device with a new structure, which can apply assist force corresponding to a motion of a joint of a user highly accurately and stably.SOLUTION: A joint motion assisting device 10 is provided with: assist force control means (i) for adjusting an output level of drive means 17 so that a load applied to an assistance force transmission part 12 reaches a target value of the assist force during the application of the assist force; slack prevention control means (ii) for actuating the drive means 17 so that slack of the assistance force transmission part 12 is eliminated during non-application of the assist force, and applying bias force to the assistance force transmission part 12; and a load sensor 34 for detecting a load in a stretching direction, which is applied to the assistance force transmission part 12. In at least one of the assist force control means and the slack prevention control means, the actuation of the drive means 17 is feedback-controlled based on a detection value of the load sensor 34 so that the load applied to the assistance force transmission part 12 reaches the target assist force or target bias force.SELECTED DRAWING: Figure 9 |
