| 摘要 |
The motion assist device (200) is provided with an auxiliary oscillator generation element (150) configured to generate, on the basis of a second intrinsic angular velocity (ω2) set according to a first oscillator (&xgr;1) generated from a first motion oscillator (&phgr;1) and a first model and a second oscillator (&xgr;2) generated from a second motion oscillator (&phgr;2) and a second model, an auxiliary oscillator (&eegr;) which includes therein a first auxiliary oscillator (&eegr;1) denoting an elastic force originated from a virtual elastic element for assisting the motion of the user so as to approximate a value of a third motion oscillator (&phgr;3) to a desired value (&phgr;0+, &phgr;0−) related to a desired motion scale of the user, and an auxiliary oscillator regulation element (160) configured to sequentially regulate the first auxiliary oscillator (&eegr;1) so as to approximate a motion index value of the user to a reference value.
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