| 摘要 |
PROBLEM TO BE SOLVED: To enable highly flexible treatment addressing various symptoms and treating situations by performing an impedance control for individual joints of a body and limbs based on loads on the joints and angles thereof. SOLUTION: As an embodiment, a CPM apparatus is indicated having three freedoms for joints of knees and thighs. Firstly, a position/attitude command Xd of the tip of the apparatus is converted to a target value θtchm of an angle of a joint in a body and limbs by a joint angle converting section 101. A reaction (f) associated with a positional deviation between the position of the apparatus and the body and limbs is measured by a force sensor at the tip of the apparatus to be determined as torques on individual joints by a joint load converting section 105 and a target impedance is set for each joint by an impedance setting part 106 to determine an angular displacement 6θ. Then, the target value θtchm of the joint angle and the angular displacement 6θ are added up to set up a target value θr of each joint angle. The results are converted to a target position/attitude value of the tip of the apparatus by the position/ attitude converting section 102 and inputted into a servo system 103 to drive or control the apparatus. |
