| 摘要 |
<p>Through the construction of a system capable of suitably assisting the motion of a connected body connected through joints, such as a leg of a walker, according to the various motional conditions of the connected body, a system is provided that is capable of imparting a suitable torque to the connected body according to the motional situation of the connected body at the time of various turns including the bending of the joints. The torque imparting system comprises a first measuring means (6), a second measuring means (7), a reference work volume determining means (8), and an external torque determining means (10). The first measuring means (6) measures the internal work volume (w1) of the around-joint leg (the connected body). The second measuring means (7) measures an external work volume (w2) around a joint imparted to the leg. The reference work volume determining means (8) determines a reference work volume (w0) on the basis of the internal work volume (w1) of the leg measured by the first measuring means (6). The external torque determining means (10) determines an external torque (T2) imparted to the leg in such a manner as to reduce the difference between the internal work volume (w1) of the leg measured by the first measuring means (6) and the reference work volume (w0) determined by the reference work volume determining means (8), on the basis of the external work volume (w2) measured by the second measuring means (7).</p> |
