POWER ASSIST DEVICE AND METHOD OF CONTROLLING THE POWER ASSIST DEVICE

摘要

A method of controlling a power assist device (50) that includes an operating handle (6), a force sensor (7), a robot arm (3), an actuator (11) that drives the robot arm (3), and conveying means (14) for conveying the robot arm (3). When a body (100) is in motion, the con-veying means (14) is controlled to move in synchronization with the body, and when the motion of the body (100) is stopped or has resumed, the drive of the robot arm (3) is stopped for a predeter-mined time, and does not resume until af-ter apredetermined time has elapsed.