Abstract: A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.

Abstract: A generated torque control method for a leg body exercise assistive apparatus enabling a person to make a leg motion in such a feeling that the person is not wearing the leg body exercise assistive apparatus as much as possible by reducing the weight of the leg body exercise assistive apparatus attached to the person acting on the person. On the assumption that a person (A) not wearing the assistive apparatus (1) is making the same motion as a leg motion of the person (A) wearing the leg body exercise assistive apparatus (1) during the leg motion of the person (A), an estimation is made for a person-side joint moment to be generated in each joint of the leg of the person (A), and on the assumption that the assistive apparatus (1) is independently making the same motion as the leg motion, an estimation is made for an apparatus-side joint moment to be generated in the joint regions (4), (6), and (10) of the leg sections of the assistive apparatus (1).

Abstract: A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory.

Abstract: The joint rotational angles of joints 9, 11 and 13 of each leg 2 of a bipedal walking body 1 are detected to grasp the positions/postures of the corresponding rigid bodies 10, 12 and 14 of each leg 2 on a leg plane passing the joints 9, 11 and 13 of each leg 2. At the same time, the acceleration of a reference point (the origin of a body coordinate system BC) of the bipedal walking body 1, the floor reaction force acting on each leg 2 and the position of an acting point thereof are grasped in terms of three-dimensional amounts. Two-dimensional amounts obtained by projecting the acceleration, the floor reaction force and the position of the acting point thereof, and the positions/postures of the corresponding rigid bodies of each 2 onto the leg plane are used to estimate the moments acting on joints of each leg on the basis of an inverse dynamic model.

Abstract: A generated torque control method for a leg body exercise assistive apparatus enabling a person to make a leg motion in such a feeling that the person is not wearing the leg body exercise assistive apparatus as much as possible by reducing the weight of the leg body exercise assistive apparatus attached to the person acting on the person. On the assumption that a person (A) not wearing the assistive apparatus (1) is making the same motion as a leg motion of the person (A) wearing the leg body exercise assistive apparatus (1) during the leg motion of the person (A), an estimation is made for a person-side joint moment to be generated in each joint of the leg of the person (A), and on the assumption that the assistive apparatus (1) is independently making the same motion as the leg motion, an estimation is made for an apparatus-side joint moment to be generated in the joint regions (4), (6), and (10) of the leg sections of the assistive apparatus (1).

Abstract: A control device and a control program for a walking assist apparatus set a desired lifting force to act on a user from a seat and distribute the desired lifting force to each leg link of the walking assist apparatus according to the ratios of treading forces of the legs of the user measured on the basis of outputs of force sensors so as to determine the share for each leg link. Then, an actuator of each leg link is controlled to generate a force for the determined share. Thus, a force required for the user to support himself/herself with his/her leg or legs on a floor can be reduced while using a reduced number of parts to be attached to each leg of the user. Moreover, an assist force for achieving such a reduced required force can be properly shared between the leg links associated with the legs of the user.

Abstract: Displacements of respective joints corresponding to respective joint elements (J9 and the like) of a rigid link model (S1) representing a two-legged walking mobile body (1) are sequentially grasped. Also at the same time, values, in a body coordinate system (BC), of an acceleration vector of the origin of the body coordinate system (BC) fixed to a waist (6) as a rigid element, a floor reaction force vector acting on each leg (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moments respectively generated in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg (2) are sequentially estimated based on an inverse dynamics model using the body coordinate system. The estimation accuracy of the joint moments of the leg can be enhanced by reducing arithmetic processing using tilt information of the two-legged walking mobile body relative to the gravity direction as much as possible.

Abstract: The direction of a component vector on a plane perpendicular to a predetermined axis (Y axis) of a floor reaction force acting on each landing leg (2) is determined in such a way that the direction of a moment generated around a center-of-gravity of a two-legged walking mobile body (1) by a total sum of the component vectors on the plane perpendicular to the predetermined axis (Y axis) of the floor reaction forces acting on the landing legs (2) is coincident with the direction of the component around the predetermined axis (Y axis) of a total rate of change of angular momentum by calculating the total rate of change of angular momentum, which is a time rate of change of an angular momentum around an total center-of-gravity of the two-legged walking mobile body (1), and the total floor reaction force acting on the two-legged walking mobile body (1) by using an output of a joint displacement sensor, an output of an acceleration sensor, an output of an angular velocity sensor, and a rigid link model or the like.

Abstract: Target joint support moments of each leg are determined by estimating joint moments of the each leg necessary for the person A wearing a leg motion support orthosis (1) to make a motion independently and according to the estimated joint moments. Moreover, floor reaction forces for the support orthosis (1) to make a motion independently are estimated, and then estimated values of actual joint support moments actually applied from the support orthosis (1) to the joints of the each leg of the person (A) are found by using the estimated floor reaction forces and outputs of the force sensor (22) provided in a leg link portion (4) of the support orthosis (1). Torque generation units (15) and (16) of the support orthosis (1) are controlled in such a way that the estimated values of the actual joint support moments are coincident with the target joint support moments. Thereby, the leg motion of the person can be supported.

Abstract: Whether a motion state of leg bodies (2) is a single stance state or a double stance state is sequentially determined and a total reaction force (F) is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body (1). If the motion state is the single stance state, then the estimated value of the total floor reaction force (F) is directly used as an estimated value of the floor reaction force of the leg body (2). If the motion state is the double stance state, then a floor reaction force (Fr) of the leg body (2) at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body (1) and pre-established characteristic data, and the floor reaction force (Fr) is subtracted from the total floor reaction force (F) to determine a floor reaction force (Ff) of the leg body (2) at the front side.

Abstract: It is determined whether the motion state of legs 2, 2 is a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body 1. If the motion state of legs 2, 2 is the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the leg 2 which is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.

Abstract: In walking assistance device, a force detector (21) is provided between thigh retaining member (9) that directly retain the thigh of the user and a thigh support member (2) that is actuated by an actuator (TA1) provided in hip coupling portion. Thereby, the load acting on the hip coupling portion can be accurately detected, and the output of the force detector can be favorably used for the purpose of controlling the actuator so as to minimize the force that is applied to the thigh of the user.

Abstract: A method and processor for obtaining torques to be applied to joints of a leg of a biped walking system are provided. The method comprises the steps of obtaining moments acting around the joints of the leg, using the vertical component of the ground reaction force acting on the leg at the point of application of the ground reaction force, the vertical components of forces acting on the joints of the leg and a term of the acceleration of gravity and without using the horizontal components of the forces acting on the joints of the leg and a term of acceleration except the term of the acceleration of gravity and obtaining the torques to be applied to the joints of the leg, based on the moments acting around the joints of the leg. The vertical component of the ground reaction force acting on the leg, is obtained based on which leg or legs are in contact with the ground. The processor is configured to perform the above steps.

Abstract: A method is presented for determination of single stance or double stance state of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor reaction force acting on a leg body touching the ground is estimated based on an equation of motion for the center of gravity (GO) of a BMB. In a double stance state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies are estimated based on an equation of motion for GO of a BMB and an expression of relation between components of Fr and Ff on the respective leg bodies and positions of ankle portions of the leg bodies relative to the GO of the BMB. Further, based on an inverse dynamics model, knee and hip joint moments of each leg body are estimated using floor reaction force values.

Abstract: A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory.

Abstract: It is determined whether the motion state of legs 2, 2 is a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body 1. If the motion state of legs 2, 2 is the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the leg 2 which is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.

Abstract: Whether a motion state of leg bodies (2) is a single stance state or a double stance state is sequentially determined and a total reaction force (F) is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body (1). If the motion state is the single stance state, then the estimated value of the total floor reaction force (F) is directly used as an estimated value of the floor reaction force of the leg body (2). If the motion state is the double stance state, then a floor reaction force (Fr) of the leg body (2) at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body (1) and pre-established characteristic data, and the floor reaction force (Fr) is subtracted from the total floor reaction force (F) to determine a floor reaction force (Ff) of the leg body (2) at the front side.

Abstract: It is judged whether a motion state of leg bodies 2 is a single stance state or a double stance state. When it is the single stance state, a floor reaction force F acting on the leg body 2 touching the ground is estimated based on the equation of motion for the center of gravity G0 of a bipedal walking moving body 1. When it is the double stance state, floor reaction forces Fr, Ff respectively acting on the leg bodies 2 are estimated based on the equation of motion for the center of gravity G0 of the bipedal walking moving body 1, and the expression of relation between components of the floor reaction forces Fr, Ff on the respective leg bodies 2 and positions of ankle portions 12 of the leg bodies 2 relative to the center of gravity G0 of the bipedal walking moving body 1. Further, based on an inverse dynamics model using estimated values of the floor reaction forces Fr, Ff, moments acting on a knee joint 10 and a hip joint 8 of each leg body 2 are estimated.

Abstract: Through the construction of a system capable of suitably assisting the motion of a connected body connected through joints, such as a leg of a walker, according to the various motional conditions of the connected body, a system is provided that is capable of imparting a suitable torque to the connected body according to the motional situation of the connected body at the time of various turns including the bending of the joints. The torque imparting system comprises a first measuring means 6, a second measuring means 7, a reference work volume determining means 8, and an external torque determining means 10. The first measuring means 6 measures the internal work volume w1 of the around-joint leg (the connected body). The second measuring means 7 measures an external work volume w2 around a joint imparted to the leg. The reference work volume determining means 8 determines a reference work volume w0 on the basis of the internal work volume w1 of the leg measured by the first measuring means 6.

Abstract: A method and processor for obtaining torques to be applied to joints of a leg of a biped walking system are provided. The method comprises the steps of obtaining moments acting around the joints of the leg, using the vertical component of the ground reaction force acting on the leg at the point of application of the ground reaction force, the vertical components of forces acting on the joints of the leg and a term of the acceleration of gravity and without using the horizontal components of the forces acting on the joints of the leg and a term of acceleration except the term of the acceleration of gravity and obtaining the torques to be applied to the joints of the leg, based on the moments acting around the joints of the leg.