STEP ASSIST DEVICE, AND COMPUTER-READABLE MEDIUM HAVING STORED THEREON A STEP COUNT PROGRAM

摘要

Provided is a step assist device including a first phase angle modifying section that, according to repetition of the step movement, modifies in a staged manner the phase angle input thereto, based on a predetermined phase change pattern, such that a phase pattern of the phase angle approaches a straight line relative to the passage of time, and outputs the modified phase angle as a first modified phase angle. The control section acquires a target value based on a continuous change pattern of the auxiliary force set in advance for at least one of the first modified phase angle and a prescribed phase angle, and controls the providing section according to the target value.

主权项

1. A step assist device comprising:
a providing section that provides auxiliary force to a periodic step movement of a user; a control section that controls movement of the providing section; a detecting section that detects at least one of a hip joint angle and a hip joint angular speed of the user; and a calculating section that calculates a phase angle defined relative to periodic movement of a hip joint of the user, based on a detection result of the detecting section, wherein the step assist device further comprises a first phase angle modifying section that, according to repetition of the step movement, modifies in a staged manner the phase angle input thereto, based on a predetermined phase change pattern, such that a phase pattern of the phase angle approaches a straight line relative to the passage of time, and outputs the modified phase angle as a first modified phase angle, and the control section acquires a target value based on a continuous change pattern of the auxiliary force set in advance for one of the first modified phase angle and a prescribed phase angle, and controls the providing section according to the target value.