| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To measure two force by simply providing one force sensor in a device configuration and to drive a drive system so that force from the outside is assisted by detecting the force from the outside. <P>SOLUTION: The value of a force sensor 114 at an instant when a foot switch 121 is pressed is set to be the origin of force to be assisted (detection reference). Subsequent changes in force are measured by the force sensor 114, differences from the assist origin is obtained, and the force to be assisted is detected. According to the size of the force to be assisted, driving force is allowed to operate on legs so that the force to be assisted is reduced for performing assist operation. When the force to be assisted becomes 0, the assist operation is completed. Then, "force applied to the legs of a patient" and "force applied to the legs" from the outside are detected using one force sensor 114. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
