| 摘要 |
PROBLEM TO BE SOLVED: To detect a load in both positive and negative directions when the limb is loaded. SOLUTION: A device for driving the limbs is provided with a base 10, a rotationally driving part 11, an arm 12 and a cuff 14 for bolding the limb 101 via a free joint 13. The cuff 14 is provided with pressure-sensitive sensors 15 and 16 on the inner vertical surface so as to hold the limb 101 by sandwiching it between the pressure-sensitive sensors 15 and 16 on the upper and lower surface. Besides, the device s also provided with a load detecting part 17 for inputting pressure signals detected by the sensors 15 and 16, obtaining the difference between signals and detecting the load on the limb 101 and an arm control part 18 for inputting the signal and controlling the movement of the arm 12 by impedance control. |
