MOTION GUIDE DEVICE, AND ITS CONTROL SYSTEM AND CONTROL PROGRAM

摘要

A device for guiding motion of a user in an appropriate rhythm dependent on the motion rhythm even when the motion rhythm of the user varies abruptly. The inventive walking assist device (200) generates the hip joint angular speed (motion oscillator) dF<SUB>H</SUB>/dt of user, and a first oscillator x pulling each other by reflecting characteristic angular speed ?<SUB>M</SUB>. On the other hand, a new characteristic angular speed ?<SUB>M</SUB> is set based on the phase difference ?<SUB>HM</SUB> between the hip joint angular speed dF<SUB>H</SUB>/dt and the first oscillator x. Furthermore, a second oscillator y oscillating in rhythm reflecting the characteristic angular speed ?<SUB>M </SUB>is generated. A guide oscillator z is generated based on the second oscillator y and a torque depending on the guide oscillator z acts on the body of the user. When the magnitude of periodic variation in the hip joint angular speed dF<SUB>H</SUB>/dt exceeds a threshold value of d, a second oscillator y oscillating in rhythm reflecting the angular speed ?<SUB>M1</SUB> of the first oscillator x in place of the characteristic angular speed ?<SUB>M</SUB>is generated.