| 摘要 |
PURPOSE: To correct the posture of a trainee and to reduce burden by defining a force applied to the trainee aiming the correction of the posture of the trainee and the reduction of the burden by a walk aid device as a function of dislocation from the standard posture of the trainee. CONSTITUTION: This aid device 4 is equipped with a link mechanism 4B, and a grip part 4C which grips the trainee via a force sensor 12 is attached on the movable terminal of the link mechanism 4B. An input means 5C decides a function by inputting a parameter. An arithmetic means 5D calculates the posture of the trainee from the angle sensor information of the link mechanism 4B, and finds dislocation from difference with the standard posture, and obtains a target value by inputting the dislocation to the function, then, decides a torque target for the link mechanism 4B finally. |
