EXTERNAL FORCE CONTROL METHOD, EXTERNAL FORCE CONTROL SYSTEM AND EXTERNAL FORCE CONTROL PROGRAM

摘要

A method capable of controlling an external force acting on an animal so that the relationship between this external force and a motion variable varying with the motion of the animal reaches a target one. An external force f value to be applied to a podosoma is set according to an external force function f(x)- based on a measurement of a myopotential x produced at the podosoma of a human, the current I of a motor (220) is controlled according to this set value, and an external force f is given to the podosoma via an orthosis (222). A resultant force (a total of an inward torque and an outward torque around a knee joint) F is measured as "a motion variable". A factor ? value is set according to a factor function ?(f,F) based on the set external force f value and the resultant force F measurement, and, when the deviation d between the set factor ? value and its target value ?_t is not smaller than a reference value e, an external function f(x) is set anew so that the set factor ? value approaches its target value ?_t.