| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device capable of assisting an agent in taking a step even in the case where the leg motion of the agent is stagnant. <P>SOLUTION: It is determined whether the agent is in a "first state" in which the leg of the agent is moving or in a "second state" in which the leg of the agent is stagnant, on the basis of a value detected in response to the leg motion of the agent. If a transition from the first state to the second state is detected as the determination result, a value of a sustained energy input term is increased, where the sustained energy input term is contained in a simultaneous differential equation representing a second model for use in generating a second oscillator ξ<SB POS="POST">2</SB>, which is to be a control basis of an assisting force. <P>COPYRIGHT: (C)2012,JPO&INPIT |
