Abstract: A steering device for steering a vehicle includes a movable member, a holding member, an impact absorbing member, a movement driving unit, and a controller. The controller is configured to perform first control and second control by which the movement driving unit is controlled. The first control is a control for moving the movable member along an axial direction of a shaft member within such a range that a front end of at least one of the shaft member and the movable member is located rearward of a space for movement in the front-rear direction of the vehicle. The second control is a control for moving the movable member along the axial direction within such a range that the front end portion is located inside the space for movement.

Abstract: A power assist suit includes a harness worn at least around hips of a wearer, an assist unit, a power unit, and a bearing roller. The assist unit includes an arm and a thigh-worn part. A rail is provided at a part of the arm in a longitudinal direction. The rail includes channel-shaped parts extending along the longitudinal direction. The thigh-worn part is connected to sliding movable parts or integrated with at least a portion of the sliding movable parts. The bearing roller is disposed between each of the channel-shaped parts in the rail and each of inner wall surfaces of the sliding movable parts facing the respective channel-shaped parts.

Abstract: A steering apparatus includes: a steering mechanism including a turning shaft; a motor configured to give a drive force to the steering mechanism; and a controller configured to control the motor based on a command value. The controller includes a first computation circuit, a second computation circuit and a third computation circuit. The first computation circuit is configured to compute a shaft force that acts on the turning shaft. The second computation circuit is configured to compute a value indicating the degree of intervention in a steering control by a host controller, such that the value gradually changes with respect to time. The third computation circuit is configured to compute a final shaft force, by reflecting the value indicating the degree of the intervention, in the shaft force.

Abstract: A motion assist system includes a plurality of assist devices and a management device configured to manage the assist devices. The assist device includes: a power portion configured to generate power that assists the motion of the assist target person; a communication portion communicable with the management device; and a control device configured to transmit motion information of the power portion to the management device. The management device generates overall information that unifies working states of the assist target persons based on pieces of motion information and presents at least part of the overall information to the assist target persons or an administrator.

Abstract: A steering system includes: a variable mechanism that reversibly changes a configuration of an operating member between a configuration for automated driving and a configuration for manual driving, the configuration including at least one of a position, an orientation, and a shape; a variable drive source; a receiver that receives an operation of a driver; and a controller that controls the variable drive source to cause the variable mechanism to return the configuration of the operating member to the configuration for manual driving, when the receiver receives the operation of the driver in a period when the configuration of the operating member is being changed.

Abstract: A steering control device includes a torque command value calculating unit configured to calculate a torque command value which is a target value of a motor torque when operation of a motor is controlled such that the motor torque is generated. The torque command value calculating unit includes a first component calculating unit configured to calculate a first component, a second component calculating unit configured to calculate a second component, and a torque component calculating unit configured to calculate a torque component. The first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of a specific state variable are provided. The torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation.

Abstract: In a steering control device configured to control a steering system where a steering torque required for steering a steering wheel is changed using a motor torque, a processing circuit includes a first calculation situation where a calculational hysteresis component for adding a first hysteresis characteristic to a torque component is calculated and a second calculation situation where the calculational hysteresis component for adding a second hysteresis characteristic to the torque component is calculated. In the second calculation situation after change from the first calculation situation, the processing circuit calculates a value corresponding to an origin in the second hysteresis characteristic at a time when the calculational hysteresis component enabling a value of the calculational hysteresis component at a timing of the change from the first calculation situation to be maintained is calculated, and calculates the calculational hysteresis component using the calculated value as the origin.

Abstract: Method for determining a friction to be adjusted in a power steering system or for modifying a hysteresis of a steering wheel torque applied to a steering wheel of the power steering system, the method including the following steps of: determining a speed, from a measurement of a speed of a part of the power steering system and/or a measurement of the steering wheel torque; determining the friction to be adjusted on the basis of a modified LuGre model, said modified LuGre model determining the friction to be adjusted as a function of a state of the system, a time derivative of the state being determined as a function of said state of the system, the speed, a first gain, and a coulomb friction, according to an equation of the form: z .

Abstract: A vehicle control apparatus capable of protecting a pre-charge circuit is provided. When a voltage has entered an operating voltage range, a microcomputer determines whether a preset period has elapsed from then. Upon determining that the preset period has elapsed, the microcomputer starts initial check. To carry out the initial check, the microcomputer starts charging a capacitor for power supply stabilization of a drive circuit by turning on the pre-charge circuit and, when the charging of the capacitor is completed, turns on a power supply relay provided on a power supply line that connects between a battery and the drive circuit.

Abstract: A turning device includes: a motor configured to generate a drive force for independently steering a steered wheel; a speed reducer connected to a rotary shaft body of the motor; and a brake configured to suppress transfer of torque between the motor and the speed reducer.

Abstract: A walking assist device has a frame, a plurality of wheels, drive units, a battery, and a drive control unit that controls the drive units. The walking assist device also has: a pair of right and left movable handles that are grasped by a user and movable back and forth with respect to the frame in accordance with arm swing performed during walk of the user; handle guide units provided on the frame to guide the movable handles in a movable range that matches the arm swing performed during walk of the user; and a grasp portion state detection unit that detects the state of the movable handles. The drive control unit controls the travel speed of the walking assist device by controlling the drive units on the basis of the state of the movable handles which is detected using the grasp portion state detection unit.

Abstract: A control device includes an electronic control unit. The electronic control unit determines a right steering command value and a left steering command value. The electronic control unit acquires path information indicating a target path for the vehicle. The electronic control unit corrects a steering command value such that the vehicle travels along the target path. The electronic control unit corrects the right steering command value and the left steering command value so as to bring the distribution ratio between a skid angle of a right steered wheel and a skid angle of a left steered wheel to a target distribution ratio.

Abstract: A power-steering device includes a steering wheel and an assistance motor controlled by a controller which uses at least one closed-loop control law ensuring an adjustment of the steering wheel torque, the controller including at least one feedback arm which calculates a drift component by measuring or assessing an actual force parameter corresponding to the actual steering wheel torque, by next calculating a time drift value of the actual force parameter, and then multiplying the time drift value by a drift gain, wherein the controller uses three-dimensional cartography to adjust the drift gain according to a portion of the actual force parameter and the longitudinal velocity of the vehicle, according to a first domain, referred to as “parking domain”, which extends from a longitudinal vehicle velocity of zero to a predetermined longitudinal velocity threshold, and a second domain, referred to as “driving domain”, which extends beyond the longitudinal velocity threshold.

Abstract: In a steering control device, a plurality of control systems is configured to switch a drive mode to a cooperative drive mode when command values calculated by control units of the control systems are not different from each other and to switch the drive mode to an independent drive mode when the command values calculated by the control units of the control systems are different from each other. The control systems are configured to gradually limit the command values respectively calculated by the control units of the control systems when a start switch of a vehicle has been turned off. The control systems are configured to switch the drive mode to the independent drive mode regardless of whether the command values calculated by the control units of the control systems are different from each other when the start switch has been turned off while the vehicle is traveling.

Abstract: A valve device includes a body having a gas flow path. When the gas is charged, the first flow path is located upstream of the intersecting portion, and the second flow path is located downstream of the intersecting portion. The gas flow path has a check valve mechanism and a drive mechanism. The check valve mechanism opens a valve when the gas is charged and closes the valve when the gas charge is completed, and the drive mechanism opens the valve of the check valve mechanism and holds the open state of the valve of the check valve mechanism when the gas is discharged from the tank. The check valve mechanism includes a valve seat, and the valve seat is disposed in the first flow path.

Abstract: A walking assist device has a frame, a pair of right and left arm portions, a pair of right and left grasp portions, wheels including a pair of right and left drive wheels, drive units, a battery, a drive control unit, acting force measurement units that measure acting forces on the grasp portions, and holding units that hold the grasp portions at a predetermined position in the front-rear direction of the arm portions set in advance. The walking assist device travels forward together with a user. The holding units generate a restoring force for returning the grasp portions to the predetermined position. The drive control unit controls the drive units on the basis of acting forces calculated on the basis of detection signals from the acting force measurement units.

Abstract: A vehicle speed calculating device includes a vehicle speed calculating unit configured to calculate a control vehicle speed that is acquired by estimating a vehicle body speed that is a speed at which a vehicle is actually traveling, as a state variable used to control an onboard device configured to operate to realize various functions provided in the vehicle. The vehicle speed calculating unit is configured to include an extraction function of extracting at least one wheel speed acquired from at least one wheel that is assumed to be rotating in a state in which an influence causing a difference from the vehicle body speed is likely to be small, out of wheel speeds of a plurality of wheels, and a calculation function of calculating the control vehicle speed based on the at least one wheel speed extracted by the extraction function.

Abstract: A method of manufacturing an outside joint member, the outside joint member including a cup portion in a bottomed tubular shape and a shaft portion that is a shaft-like portion extending from a bottom portion of the cup portion and that has a spline shaft having an outer peripheral surface on which spline teeth are formed, includes forging a forming material to form a shape of the cup portion and a shape of the spline shaft on the shaft portion simultaneously using a forging die.

Abstract: A walking assist device has a frame, fixed handles, rails provided with movable handles, front wheels, rear wheels and that serve as drive wheels, drive units, a battery, and a drive control unit, and travels forward or rearward together with a user that walks while grasping the fixed handles or the movable handles. The walking assist device has an operation mode switching unit that switches between a training mode, in which a load is applied to operation of the body of the user performed as the user walks, and an assist mode in which a load on operation of the body of the user performed as the user walks is alleviated.

Abstract: A steering system includes a first operation device including a first displacement mechanism, a first electric drive source, and a first detector, a second operation device including a second displacement mechanism, a second electric drive source, and a second detector, and a determiner configured to determine that the first operation device and the second operation device do not malfunction when the determiner determines that the first operation device has an abnormality based on first operation information related to operation of the first operation device, and that the second operation device has an abnormality based on second operation information related to operation of the second operation device.