| 摘要 |
<p>A leg support device provided with a control rule suitable for assisting a standing up action. The leg support device is provided with an upper leg link, a lower leg link, a rotation joint, and a controller. The upper leg link is attached to an upper leg of the user, and a lower leg link is attached to the lower leg of the user. The rotation joint rotatably connects the lower leg link to the upper leg link. The rotation joint is provided with an actuator for rotating the lower leg link. The controller controls the actuator so that the rotational angle of the lower leg link coincides with a target angle. The controller is provided with a torque limiter for limiting the magnitude of command torque outputted to the actuator. The controller sets the target angle to a standing position angle corresponding to the standing position of the user and increases the upper limit value of the torque limiter as the waist height of the user increases.</p> |
