MOTION ASSISTANCE DEVICE, CONTROL DEVICE OF MOTION ASSISTANCE DEVICE AND CONTROL METHOD OF MOTION ASSISTANCE DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a motion assistance device, a control device of the motion assistance device and a control method of the motion assistance device which can reduce the deviation of a control amount due to the rotation torque acting on an arm member with the biasing force of a biasing member supporting an attachment member configured to be slidable with respect to the arm member.;SOLUTION: A control device of a motion assistance device which includes: a joint part arranged on the side of a prescribed joint of a user; an arm member rotating around the joint part; an actuator generating the rotation torque of the arm member; an attachment member attaching the arm member to a prescribed portion of the user' body; a slide mechanism connecting the arm member and the attachment member in a slidable manner along the prescribed direction; and a biasing member biasing the attachment member to the joint part side includes an actuator control unit controlling the driving force of the actuator. The actuator control unit controls the driving force of the actuator on the basis of the biasing force of the biasing member.;SELECTED DRAWING: Figure 7;COPYRIGHT: (C)2018,JPO&INPIT