Tuning control method using neural oscillator for robotic wear, computer program for tuning control, and robotic wear

摘要

PROBLEM TO BE SOLVED: To provide human body mounted type robotic wear achieving synchronization control using a neural oscillator with respect to lower extremity four joints when a human walks.SOLUTION: In a lower extremity four-joint control system 1, focusing on a knee joint drawing a characteristic motion trajectory for absorbing impact, trajectory control of the knee joint is executed by grasping the motion trajectory as two-cycle motion having different amplitudes composed of a standing leg phase and a free leg phase constituting one walking motion during one walking cycle. By giving an appropriate amplitude magnification and offset value to a signal between minimal values output from a knee joint neural vibrator 8, a knee joint control trajectory is generated which is defined by two-cycle waveform connecting smoothly a standing leg phase one-cycle waveform and a free leg phase one-cycle waveform having different amplitudes. An knee joint actuator 3 can be driven in line with the control trajectory which is generally the same as a human joint angle trajectory and exerts no discomfort to a wearing person in all of lower extremity four joints.SELECTED DRAWING: Figure 15