| 摘要 |
PROBLEM TO BE SOLVED: To reduce an unnatural feeling of an assist in a swing phase by releasing a clutch arranged in a knee joint in a swing phase.SOLUTION: A drive system of a leg connection member 27 and a transmission system for transmitting drive force by the drive system to the leg connection member 27 are connected or released with the use of a clutch 36. A region where the angular velocity of a knee joint is higher in walking is the section from immediately before a swing phase to near the end of a swing phase. In the period, a body has no necessity to be supported and assist force is not required. A region requiring assist force is mainly a first half of a stance phase and an angular velocity is lower in the period. A wearable robot 1 determines timing of a stance phase or a swing phase. A clutch 36 is separated in a swing phase so as to demonstrate required assist force in a stance phase and to eliminate an unnatural feeling in walking assistance in a swing phase. |
