MOTION ASSISTING DEVICE

摘要

A device for assisting the periodic motion of an animal such as a human being by applying force with suitable strength to the animal in order to match the motion scale of the animal with the target motion scale regardless of whether the rhythm of the periodic motion of the animal is fast or slow. According to a motion assisting device (1), a second model is corrected such that the value of a motion variable (?) as a function of the amplitude (motion scale) of the periodic motion of a human being (P) approaches a target value (?0). A second vibrator (?2) is generated according to the corrected second model, and periodic force (torque) (T) applied to the human being (P) is controlled according to the second vibrator (?2). Thus, regardless of whether the rhythm of the periodic motion of the human being (P) is fast or slow, the periodic motion can be assisted by applying force with suitable strength to the human being (P) in order to match his or her motion scale (length of stride, for example) with the target motion scale.