Active control of the anklefoot orthosis

摘要

System parameter of the human - exoskeleton system is received, popularization coordinate of the human - exoskeleton system such as direction and the like of the foot is received, the technology which controls the human - exoskeleton system which has the anklefoot orthosis is offered by compensating the component of one or more of the power which operates the foot by deciding the joint torque in order to control the anklefoot orthosis. The power which is selected for compensating includes gravity in addition to the external force such as floor reaction force and the like. The part of the power which operates the foot around the axis of rotation or the technology which decides the ankle joint torque for complete compensation is offered. One execution form of this invention lightens the quantity of interference with option control and control, of assist reaches the point where the person can adjust to the exoskeleton system quickly with that. Selective figure Figure 1