| 摘要 |
PROBLEM TO BE SOLVED: To enable efficient recognition of a step in walking control.SOLUTION: A wearable robot 1 measures a height (H2) from a walking surface under an idling leg to a sole portion of the idling leg by using a distance sensor, and compares it with a height (H1) to the sole portion of the idling leg from a stance leg ground contact surface calculated from a joint angle. This enables recognition of a step (H3) under the idling leg before contact with ground. In addition, in the case where an idling leg position is on the traveling-direction side with respect to a stance leg position via the state of the inevitable absence of the step under the idling leg during the swing motion of the idling leg, step determination associated with an assist ratio is performed to enable prevention of erroneous determination. Thus, the wearable robot 1 can determine the step before the contact of the idling leg with the ground, reflect it on the assist ratio and achieve comfortable walking assist. |
