| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a biological motion support apparatus which simultaneously uses muscle force generated by functional electric stimulation and power assist by a drive unit. <P>SOLUTION: A feedback control pat 106 performs feedback of the angle of a joint angle detected by encoders 60L, R, 62L, and R to control the output of motors 36L, R, 38L, and R on the basis of the deviation between the target value of the angle of the joint angle set by a target operation setting part 102 and the angle of an actual joint angle. Therefore, even in existence of disturbance or a load such as irregularity of muscle force occurring when predetermined electric stimulation is outputted by an electric stimulation imparting part 104 due to fatigue or deviation of electrodes, the muscle force is properly compensated by the motors, thereby making the angle of a joint follow the target value. <P>COPYRIGHT: (C)2009,JPO&INPIT |
