| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motion assisting apparatus which assists actions in an abnormal movable range on the basis of actions in a normal movable range. <P>SOLUTION: The motion assisting apparatus includes speed trajectory predicting means 18 for calculating prediction speed trajectory F(t) of the fore arm on the basis of bending movement of the fore arm within a normal movable range and drive control means 20 for driving a drive motor on the basis of the prediction speed trajectory F(t). The speed trajectory predicting means 18 includes a speed measuring section 30 for measuring sample speeds v<SB>1</SB>, v<SB>2</SB>, and v<SB>3</SB>of the fore arm, and a speed trajectory calculating section 32 for calculating the prediction speed trajectory F(t) as a bell-shaped trajectory on the basis of the sample speeds v<SB>1</SB>, v<SB>2</SB>, and v<SB>3</SB>. The drive control means 20 controls driving of the drive motor on the basis of the prediction speed trajectory F(t) and actuates a second support member assisting the fore arm. By doing so, the fore arm undergoes bending movement within an abnormal movable range in accordance with the prediction speed trajectory F(t) and reaches a target attainment position. <P>COPYRIGHT: (C)2010,JPO&INPIT |
