MOTION ASSISTING DEVICE

摘要

A device for assisting a motion of a user so that the rhythm and scale of the user's motion are made to match a target rhythm and scale while balancing the rhythm and scale of the user's motion. The device (200) for assisting a motion comprises a means (150) for creating an assistant oscillator (z) including a first assistant oscillator (?1) representative of the elastic force exerted by a virtual elastic element for assisting the user's motion on the basis of a second natural angular velocity (?2) determined according to a first motion oscillator (f1) and a first oscillator (?1) created from a first model and a second oscillator (?2) created from a second motion oscillator (f2) and a second model so that the value of a third motion oscillator (f3) may be close to target values (f0+, f0-) corresponding to the user's target motion scale and a means (160) for regulating the first assistant oscillator (?1) sequentially to bring the user's motion index value close to a reference value.