| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a sitting-motion assist device which appropriately assists sitting motion even when a chair has an undefined seat height. <P>SOLUTION: The assist device includes a thigh link, a lower thigh link, joints, a motor, and a controller. The thigh link and the lower thigh link are mounted to the thigh and the lower thigh of the user, respectively. The joint connects the lower thigh link to the thigh link in a swingable manner. The motor drives the joint, and generate a torque for swing the lower thigh link relative to the thigh link. The controller controls the motor to match the angle of the knee to an objective knee angle. Further, the controller controls the motor so that an actual angle of the knee tracks the objective knee angle pattern having an objective knee angle reduced with time, and finishes the tracking control when predetermined sitting determination conditions are satisfied during the control tracking the objective knee angle pattern. <P>COPYRIGHT: (C)2012,JPO&INPIT |
