| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for generating a controlling pattern or the like which easily generates the controlling pattern for an operation assisting apparatus for walking for rehabilitation matched to a patient.SOLUTION: An assisting means (10) of the operation assisting apparatus (S) is mounted on the knee joint part of the leg of a person to be assisted, and assists the bending operation of the knee joint part accompanied with the walking. The heel data Sh, the bending angle (&thetas;k) of the knee joint part, and the bending angle (&thetas;H) of the crotch joint part of the leg mounted with the assisting means for detecting separation of the heel from the walking face 65 is detected (S3). Based on the detected heel data, a leg free period (T2) during which the heel is separated from the walking face, is predetermined (S5). The extreme value timing tb at which the bending angle of the knee joint part reaches the extreme value is predetermined (S6). The value of the bending angle of the crotch joint part at the extreme value timing is set at a threshold value angle &thetas;H1 at the bending angle of the crotch joint part (S7 and S8). Based on the threshold value angle, a controlling pattern for switching assistance of the bending operation by the assisting means to assistance of the extension operation at the free leg period, is generated (S9). |
