| 摘要 |
<p>A device capable of assisting the periodic walking motion of an animal so as to stimulate the smooth motion of a leg of the animal. According to a motion assisting device (10), the assist force applied to the animal to assist the motion of the leg with respect to the trunk is enhanced by an increase in the value of an assist coefficient in an enhancement period. The "enhancement period" includes a second enhancement period as part or all of a second period during which the leg performs an extension movement while the leg is contacted with the floor (in an on-floor state). Thus, the extension movement of the leg in the on-floorstate is assisted by relatively strong force, so that the forward translation of the trunk is stimulated by floor reaction force applied to the leg in the on-floor state. By the reflex of stretch (stretch reflex) of the leg by the assist force while the leg leaves the floor (in an off-floor state), the flection movement in the off-floor state following the above off-floor state is stimulated.</p> |
