Performance evaluation apparatus and performance evaluation method for wearable motion assist device

摘要

The present invention provides a performance evaluation apparatus and a performance evaluation method capable of efficiently evaluating the performance of a wearable movement assist device that assists the movement of the waist of a wearer with a relatively simple configuration. In a state in which the wearable movement assist device is fixedly attached to both the thigh links and the trunk link, the posture of the trunk link and the rotation angle of each hip joint and each knee joint are determined based on the movement of the wearer's waist. The first and second driving are detected by detecting the torque acting on the axis in the pitch direction with respect to the trunk link at each hip joint while controlling the driving force by the first and second driving sources so as to be virtually matched with each other. Based on the detection result of the torque according to the drive control of the source, the performance of the assist force by the wearable movement assist device is evaluated.