| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device or the like for assisting movement of a user which assists the movement of a user at an appropriate rhythm while harmonizing movement rhythms of various body parts of the user with movement assisting rhythms comprehensively so as to conform the movement rhythm of the user to an objective rhythm. <P>SOLUTION: In a walk assisting device 200, a first vibrator x that undergoes mutual entrainment with a first movement vibrator (shoulder joint angular velocity) dϕ<SB>S</SB>/dt while reflecting an intrinsic angular velocity ω<SB>M</SB>is generated. Besides, a new intrinsic angular velocity ω<SB>M</SB>is determined on the basis of phase difference θ<SB>HM</SB>between the first movement vibrator dϕ<SB>S</SB>/dt and the first vibrator x. Further, a second vibrator y that vibrates at a rhythm reflecting the intrinsic angular velocity ω<SB>M</SB>is generated on the basis of a second movement vibrator (hip joint angular velocity) ϕ<SB>H</SB>. An assisting vibrator z is generated on the basis of the second vibrator y, and a force F that fluctuates in accordance with the assisting vibrator z is applied to the body of a user. <P>COPYRIGHT: (C)2007,JPO&INPIT |
