MOTION ASSIST DEVICE AND MOTION ASSIST METHOD, COMPUTER PROGRAM, AND PROGRAM RECORDING MEDIUM

摘要

Intentions of a user are read from movements of the joints of the user without the use of a myoelectric sensor, and a force to support motions of the user is generated.;Even if there is friction that is difficult to model in a gear portion of a joint actuator, the friction is compensated for, and joint units are controlled to follow an idealized mathematical model. In this manner, the force to support motions is generated, without giving any uncomfortable feeling to the joints of the user wearing the device. When motions of the user are supported, a mathematically-determined torque is applied to the joint units, so that a natural supporting force is constantly provided to the user in various circumstances.

主权项

1. A motion assist device comprising:
a link structure formed with a plurality of joint units and a plurality of links connecting the joint units; an actuator configured to actuate the joint units through torque control; a joint value measuring unit configured to measure a joint value of the joint units; a target torque determining unit configured to determine a target torque for the actuator based on the joint value measured by the joint value measuring unit; a torque measuring unit configured to measure an external torque acting on the joint units; and a response control unit configured to perform torque control on the actuator, to establish a desired relationship among the target torque, the joint value measured by the joint value measuring unit, and the external torque measured by the torque measuring unit.