Abstract: A training device capable of converting kinetic energy of an agent into electric energy while applying to the agent a resistance force of a variation behavior appropriate to a motion behavior of the agent. According to the training device, a strength and a direction of a resistance force applied to the agent can be varied via a regenerative braking on a motor according to at least one of a variation behavior of a relative posture between an upper body and a leg of the agent and a temporal variation behavior of the relative posture therebetween.

Abstract: In the assist device, the output of an actuator is adjusted so that it becomes lower as a state of charge of a battery exceeds a first threshold value, and also so that it becomes lower as the state of charge of the battery becomes lower. The output of the actuator is controlled on the basis of the state of charge of the battery, so that it is possible to make the agent recognize the change in the state of charge of the battery by changing the output of the actuator, and as a result, to avoid the situation where the agent feels strange with respect to stopping the operation of the assist device following thereto.

Abstract: A training device capable of converting kinetic energy of an agent into electric energy while applying to the agent a resistance force of a variation behavior appropriate to a motion behavior of the agent. According to the training device, a strength and a direction of a resistance force applied to the agent can be varied via a regenerative braking on a motor according to at least one of a variation behavior of a relative posture between an upper body and a leg of the agent and a temporal variation behavior of the relative posture therebetween.

Abstract: A method of controlling an external force applied to an animal to achieve as a target relation the relation between the external force and a motion variable varying with the motion of the animal. A value of an external force f applied to a human leg according to an external force function f(x) on the basis of a measured value of a myoelectric potential x that occurs in the human leg, current I of a motor 220 is controlled according to the set value, and the external force f is applied to the leg through an orthosis 222. A resultant force (the sum of an internal torque and an external torque around a knee joint) F is measured as “a motion variable.” Moreover, a value of a factor ? is set according to a factor function ?(f, F) on the basis of the set value of the external force f and the measured value of the resultant force F.

Abstract: In the assist device, the output of an actuator adjusted so that it becomes lower as a state of charge of a battery exceeds a first threshold value, and also so that it becomes lower as the state of charge of the battery becomes lower. The output of the actuator is controlled on the basis of the state of charge of the battery, so that it is possible to make the agent recognize the change in the state of charge of the battery by changing the output of the actuator, and as a result, to avoid the situation where the agent feels strange with respect to stopping the operation of the assist device following thereto.

Abstract: A method, system, and program enabling a variable varying with an animal's motions to be accurately measured. First, a reference relational expression representing a relation between myoelectric potentials and motion is set on the basis of the myoelectric potentials and the variable measured by using an inverse dynamics model. Then, the motion variable is measured on the basis of the measured myoelectric potentials and according to the reference relational expression. A reference relational expression is set on the basis of myoelectric potentials measured in a first motion and a motion variable corresponding to the first motion. Then, a motion variable corresponding to a second motion is measured on the basis of the myoelectric potentials measured in the second motion and according to the reference relational expression.

Abstract: A method of controlling an external force applied to an animal to achieve as a target relation the relation between the external force and a motion variable varying with the motion of the animal. A value of an external force f applied to a human leg according to an external force function f(x) on the basis of a measured value of a myoelectric potential x that occurs in the human leg, current I of a motor 220 is controlled according to the set value, and the external force f is applied to the leg through an orthosis 222. A resultant force (the sum of an internal torque and an external torque around a knee joint) F is measured as “a motion variable.” Moreover, a value of a factor ? is set according to a factor function ?(f, F) on the basis of the set value of the external force f and the measured value of the resultant force F.

Abstract: A method, system, and program enabling a variable varying with animal's motions such as a joint torque to be accurately measured in a series of the animal's motions. First, a reference relational expression representing a relation between myoelectric potentials and a knee joint torque is set on the basis of the myoelectric potentials and the knee joint torque (variable) measured by using an inverse dynamics model. Then, the knee joint torque is measured on the basis of the measured myoelectric potentials and according to the reference relational expression. For example, if an animal makes first and second motions continuously, first a reference relational expression is set on the basis of myoelectric potentials measured in the first motion and a knee joint torque corresponding to the first motion. Then, a knee joint torque corresponding to the second motion is measured on the basis of the myoelectric potentials measured in the second motion and according to the reference relational expression.

Abstract: An electric double-layer capacitor includes a casing, a pair of porous electrodes disposed within the casing, a permeable separator sandwiched between both the porous electrodes, and an electrolytic liquid formed of an organic solvent, injected into the casing and permeating the porous electrodes and the separator. The separator is formed from an aggregate of cellulose fiber having a surface modified by an organic solvent thereby. A method of making a separator for an electric double-layer capacitor includes producing a cellulose fiber aggregate, forming a sheet of the cellulose fiber aggregate, modifying a surface of the cellulose fiber aggregate sheet by immersing the sheet in an organic solvent for a predetermined time period, drying the modified sheet, and cutting the dried sheets to form the separator of a desired size and shape. The cellulose fiber aggregate sheet may also be pretreated by immersing the sheet in an amphipathic solvent.

Abstract: An electric double-layer capacitor includes a casing, a pair of porous electrodes disposed within the casing, a permeable separator sandwiched between both the porous electrodes, and an electrolytic liquid formed of an organic solvent, injected into the casing and permeating the porous electrodes and the separator. The separator is formed from an aggregate of cellulose fiber having a surface modified by an organic solvent thereby.