| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motion assisting device for assisting motion by applying appropriate torque to a joint of a human body. <P>SOLUTION: The motion assisting device includes a memory module, a sensor for measuring an angle of the joint of the human body, a brace having a motor applying the torque to a specified joint, and a controller. The memory module stores a known trajectory group of n numbers of the joint angles from a first point in time to a second point in time, and known s-dimensional time-series data corresponding to respective known trajectories. The controller obtains a measured n-dimensional trajectory on time-series data of the n numbers of the measured joint angles, and calculates measured s-dimensional time-series data corresponding to the measured trajectories, where n>s. The controller compares the respective known time-series data till a middle point in time with the measured time-series data and identifies the known time-series data nearest to the measured time-series data to control the motor to allow the angle of the specified joint to follow the trajectory of the specified joint in the known trajectory corresponding to the identified known time-series data after a point in time set after the middle point in time. <P>COPYRIGHT: (C)2011,JPO&INPIT |
