GENERATED TORQUE CONTROL METHOD FOR LEG BODY EXERCISE ASSISTIVE APPARATUS

摘要

A generated torque control method for a leg body exercise assistive apparatus enabling a person to perform the exercise of leg bodies in such a feeling that the leg body exercise assistive apparatus is not installed on the person by reducing the weight of the leg body exercise assistive apparatus installed on the person acting on the person. On the assumption that a person (A) from which the assistive apparatus (1) is removed performs the same exercise as the leg body exercise when the person (A) who wears the leg body exercise assistive apparatus (1) performs the exercise of the leg bodies, a person side joint moment to be generated in each joint of the leg bodies of the person (A) is estimated, and on the assumption that the assistive apparatus (1) alone performs the same exercise as the leg body exercise, an apparatus side joint moment to be generated in the joint portions (4), (6), and (10) of the leg body parts of the assistive apparatus (1) is estimated. The estimated value of the apparatus side joint moment is considered as the reference torque of the torque generating means (18), (19), and (20), and a torque formed by adding a torque according to the estimated value of the person side joint moment to the reference torque is generated in the torque generating means (18), (19), and (20).