POWER ASSISTING ROBOTIC DEVICE AND CONTROL METHOD THEREOF

摘要

A power assist robot apparatus is disclosed which is capable of assisting heavy-object lifting action and walking movement with fewer driving sources, and a method is disclosed for controlling the power assist robot apparatus. Two power-assist electric motors are located near opposite lateral sides in a right-left direction of the wearer's waist, respectively. Each lower-limb assist arm has one end fixed to a rotary shaft of the power-assist electric motor and the other end to which a lateral side of the thigh is attached. An upper-body assist arm placed at the wearer's chest and a main frame that holds the two power-assist electric motors at both ends thereof and is placed at the wearer's waist are connected by a driven rotary shaft which is rotatable about a vertical axis and a driven rotary shaft which is rotatable about a right-left axis.

主权项

1. A power assist robot apparatus comprising:
two rotating drive portions that are located near opposite lateral sides in a right-left direction of a waist of a wearer wearing the power assist robot apparatus, respectively, and produce drive torque for assisting a movement of the wearer's upper body and thighs in a direction to follow the movement of the wearer's upper body and thighs; an upper-body frame that is placed at the wearer's chest and waist, and holds the two rotating drive portions; and two thigh frames, each of which has one end fixed to a rotary shaft of the rotatably driving portion and has the other end placed at a lateral side of a thigh.