| 摘要 |
PROBLEM TO BE SOLVED: To select movement by generating a representative movement pattern by limb parameter information from a parameter input part, calculating the target track of a limb driving device and switching the limb driving device to transitive movement, automatic movement and resistance movement. SOLUTION: When the limb parameter of a patient is numerically inputted to the parameter input part 202, a limb pattern generation part 203 generates a limb pattern. Further, the target track of a splint is calculated. The target track is continuously sent to an operation control part 201 and control is performed so as to realize virtual mechanical impedance composed of the parameters of inertia, viscosity and elasticity by the response of the tip of the limb driving device to external force. A switching means for making limbs perform the operation of one of the transitive, automatic and resistance movement by using only the parameter information inputted in the parameter input part 202 is provided in the limb operation pattern generation part 203. Thus, the operation is selected. |
