Standing motion support method by tuning control using robotic wear, computer program for standing motion support, and robotic wear

摘要

PROBLEM TO BE SOLVED: To provide a standing motion support method using robotic wear which performs standing motion support in a motion mode according to a standing motion intended by a wearer without feeling discomfort or a confined feel.SOLUTION: A standing motion support method using robotic wear uses robotic wear 1 including hip joint units 2L, 2R having hip joint actuators 4L, 4R generating assist force into a state in which the assist force acts on both sides of the hip joint of a wearer P. Motion control of the hip joint actuators is performed by a control device 20 performing synchronization control using a neural oscillator model so that the hip joint actuators 4L, 4R perform a standing support motion in synchronization with a standing motion of the wearer P.SELECTED DRAWING: Figure 1.3