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Phase transition timing determination method, phase transition timing determination device, walking support control method, and walking support device
Phase transition timing determination method, phase transition timing determination device, walking support control method, and walking support device
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机译:相变时序确定方法,相变时序确定设备,步行辅助控制方法和步行辅助设备
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摘要
A walking assistance apparatus includes: a walking assistance attachment to be attached to a leg of a human body and including a variable stiffness mechanism having stiffness that is changeable in a direction where the human bends and stretches the knee by motor driving; and a controller. The controller includes a foot-end motion calculation part configured to receive an output from a sensor to detect motion of a leg and successively calculate a relative velocity of a foot end with reference to a waist of the human body; and a leg state determination part configured to determine shift timing between a swing phase and a stance phase based on the relative velocity of the foot end.
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