MOTION ASSIST DEVICE, ITS CONTROL SYSTEM AND CONTROL PROGRAM

摘要

A device for assisting motion of a user in an appropriate rhythm in view point for bringing user's motion rhythm close to a target rhythm while totally harmonizing each motion rhythm of the user at different part of the body with a rhythm for assisting user's motion. The inventive walking assist device (200) generates a first motion oscillator (shoulder joint angular speed) dF_S/dt, and a first oscillator x pulling each other while reflecting characteristic angular speed ?_M. On the other hand, a new characteristic angular speed ?_M is set based on the phase difference (first phase difference) d?₁between the first motion oscillator dF_H/dt and the first oscillator x. Furthermore, a second oscillator y oscillating in rhythm reflecting the characteristic angular speed ?_M is generated based on a second motion oscillator (hip joint angular speed) F_H. An assist oscillator z is generated based on the second oscillator y and a force variable F depending on the assist oscillator z acts on the body of the user.