| 摘要 |
PROBLEM TO BE SOLVED: To provide a rehabilitation assisting device which can give moderate load to a user's joint, and in which the user can move the joint greatly.SOLUTION: The rehabilitation assisting device 100 includes a thigh link 20 which is mounted to a user's thigh, and a lower thigh link 30 which is mounted to a lower thigh. The thigh link 20 and the lower thigh link 30 are rotatably connected. A controller 12 of the rehabilitation assisting device memorizes a target pattern which describes a change with time of a target angle of a lower thigh link rotation angle. The controller 12 performs a follow-up control which makes a rotation angle of the lower thigh link 30 follow up the target pattern by a motor 26. The controller 12 brings a follow-up control into a resting state at a rehabilitation operation start point, makes the lower thigh link 30 into a passively rotatable condition, specifies an angle difference between a target angle on a target pattern corresponding to a lapse time from the rehabilitation operation start point and a metered rotation angle, and starts a follow-up control when the angle difference exceeds a permission angle difference defined beforehand. |
