发明名称 |
CONTROL SYSTEM FOR WALKING ASSIST DEVICE |
摘要 |
<p>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'.</p> |
申请公布号 |
WO2004017890(A1) |
申请公布日期 |
2004.03.04 |
申请号 |
WO2003JP09918 |
申请日期 |
2003.08.05 |
申请人 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA;YASUHARA, KEN;MIYAKE, YOSHIHIRO |
发明人 |
YASUHARA, KEN;MIYAKE, YOSHIHIRO |
分类号 |
A63B23/04;A61H1/02;A61H3/00;A63B71/06;(IPC1-7):A61H3/00 |
主分类号 |
A63B23/04 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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