CONTROL SYSTEM FOR WALKING ASSIST DEVICE

摘要

A system capable of controlling an autonomous walking assist rhythm while following up a change in walking rhythm of a walker. The control system (100) generates a first vibrator x that tugs and is tugged by a walking vibrator (hip joint angular velocity) phiH' in the form of reflecting an intrinsic angular velocity. Then, a new intrinsic angular velocity omegam is determined based on the deviation between a first phase difference thetaHM between the first vibrator x and the walking vibrator phiH' and a target phase difference thetad. Further, a second vibrator y is generated that tugs and is tugged by a the walking vibrator phiH' in the form of reflecting an intrinsic angular velocity omegam having, with respect to the walking vibrator phiH', a second phase difference thetahm closer to a target phase difference thetad than the first phase difference thetaHM is. Then, walking assist vibrator (an imparting torque to a walker by a walking assist device (200)) T is generated based on the second vibrator y and the walking vibrator (hip joint angular velocity) phiH'.