发明名称 |
Rehabilitation device and controlling method thereof |
摘要 |
The present invention provides a rehabilitation device using a walking assistance device (1) having an actuator which generates and provides torque to a lower limb joint of a wearer wearing the walking assistance device (1), comprising a floor reaction force pattern storing unit (330) configured to store a reference floor reaction force pattern; a control target floor reaction force setting unit (340) for determining a control target floor reaction force based on the floor reaction force pattern stored in the floor reaction force pattern storing unit (330); a target torque calculating unit (350) for calculating a target torque of the actuator to achieve the control target floor reaction force determined by the control target floor reaction force setting unit (340); and an actuator output controller (150) for controlling output of the actuator such that the actuator generates a torque matching the target torque calculated by the target torque calculating unit (350); wherein the floor reaction force that the wearer receives is increased and decreased by the application of torque generated by the actuator.
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申请公布号 |
US8562548(B2) |
申请公布日期 |
2013.10.22 |
申请号 |
US20090586227 |
申请日期 |
2009.09.18 |
申请人 |
SHIMADA KEI;YASUHARA KEN;IDO TETSUYA;WAKITA SHUICHI;HONDA MOTOR CO., LTD. |
发明人 |
SHIMADA KEI;YASUHARA KEN;IDO TETSUYA;WAKITA SHUICHI |
分类号 |
A61H3/00 |
主分类号 |
A61H3/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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