| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a control device of a walking assist device for applying assist force (lifting force) capable of properly reducing force to be supported on a floor by legs of a user himself to the user, while compensating the influence of inertia force of a walking aid accompanying the motion of the user and the influence of gravity applied to the aid by the aid itself. <P>SOLUTION: The sum total of supporting force applied to each leg link 3L and 3R from the floor side against the vertical direction inertia force actually generated by the walking aid 1 by the motion of the aid 1 and the gravity applied to the aid 1 is estimated as aid self weight compensating force. The sum total of a target value of the lifting force applied to the user A from a lifting force transmitting part 2 and the estimated value of the aid self weight compensating force is made as target total lifting force. Driving force of an actuator 27 for driving joints 12L and 12R of each leg link 3L and 3R is controlled so that the sum total of the supporting force actually applied to both the leg links 3L and 3R from the floor side may be the target total lifting force. <P>COPYRIGHT: (C)2008,JPO&INPIT |
