| 摘要 |
<P>PROBLEM TO BE SOLVED: To perform walking assistance with a constant load sense even when a walking manner varies. <P>SOLUTION: This walking assistance device performs an assist of each joint such that an angular impulse (the time integration value of a joint moment) in one walking period of a wearer becomes constant regardless of a walking condition by paying attention to the angular impulse as a load amount of the wearer during the one walking period. Specifically, the walking assistance device sets an angular impulse obtained by subtracting an angular impulse assisted by the walking assistance device from the angular impulse in the one walking period in the walking condition that is a reference as a reference angular impulse z, and sets an assist rate β such that the angular impulse to be imposed on the wearer becomes equal to the reference angular impulse z even if the angular impulse increases by the change of the value of a walking parameter (the change of the walking manner). Thus, when the value of the walking parameter changes, walking with the constant load sense of the reference angular impulse z becomes possible. <P>COPYRIGHT: (C)2013,JPO&INPIT |
