Abstract: An assist device includes a body-worn component that is worn at least around a hip of a user, a thigh unit that is mounted on the body-worn component and each thigh of the user, a torque generation unit having an actuator configured to generate assist torque, a control box disposed above the hip of the user on the body-worn component, the control box accommodating the torque generation unit and a controller configured to control the torque generation unit, and a power transmission unit configured to transmit assist torque generated in the control box to the thigh unit. The assist device reduces a load on a lower back of the user by assisting the user with a movement of each thigh relative to the lower back.

Abstract: An assist device includes a body wearing unit, and an actuator unit. The actuator unit includes an output link and an actuator having an output shaft. The output shaft is connected to the output link via a speed reducer configured to reduce a pivot angle from the output shaft. The speed reducer includes an accelerating shaft connected to the output shaft and a decelerating shaft connected to the output link. The accelerating shaft of the speed reducer is provided with an output link pivot angle detection unit configured to detect a pivot angle of the output link.

Abstract: An assist device includes a body wearing unit configured to be worn on a body of a user including a region around an assist target body part of the user; and an actuator unit configured to be attached to the body wearing unit and to the assist target body part so as to assist a motion of the assist target body part. The body wearing unit includes a main frame having a pivot shaft portion, and a sub-frame connected to the pivot shaft portion and configured to pivot around an axis of the pivot shaft portion. The sub-frame is pivotable so as to fit a body size of the user.

Abstract: An assist device includes a body wearing unit and an actuator unit. The body wearing unit includes a waist wearing portion configured to be worn around a waist of a user, an upper half body wearing portion configured to be worn at a position in an upper half of a body of the user, and a frame portion connecting the waist wearing portion and the upper half body wearing portion to each other. A virtual pivot axis extending in a right-left direction of the user wearing the assist device is set at the waist wearing portion. The frame portion is connected to the waist wearing portion via a pivot mechanism that supports the frame portion such that the frame portion is pivotable relative to the waist wearing portion about the virtual pivot axis.

Abstract: An assist device is connected to a moving body that performs a reciprocating swing motion. The assist device includes a first output portion configured to swing around a swing center as a center of a swing motion; a variable rigidity device including an elastic body configured to accumulate energy and release the energy in accordance with a first swinging angle as a swinging angle of the first output portion, and a rigidity varying unit configured to change an apparent rigidity of the elastic body seen from the first output portion; a first angle detecting portion configured to detect the first swinging angle; and a control device configured to adjust the apparent rigidity of the elastic body seen from the first output portion by controlling the rigidity varying unit in accordance with the first swinging angle detected by the first angle detecting portion.

Abstract: A swinging joint device includes a driving shaft member; a first output portion that swings about a driving axis serving as an axis of the driving shaft member; an elastic body that generates an urging torque corresponding to a first swinging angle that is a swinging angle of the first output portion; an apparent rigidity variable portion that varies apparent rigidity of the elastic body seen from the first output portion; a first angle detection portion that detects the first swinging angle; and a control portion that controls the apparent rigidity variable portion according to the first swinging angle detected by the first angle detection portion to adjust the apparent rigidity of the elastic body seen from the first output portion.

Abstract: A swinging joint device includes: a driving shaft member; a first swinging arm that is swingably supported about the driving shaft member; a driven shaft member that is arranged parallel to the driving shaft member; an interlocking swinging member that swings about the driven shaft member in an interlocking manner with swinging of the first swinging arm; an elastic body that is connected to the interlocking swinging member to generate an urging force in a direction opposite to an interlocking swinging direction of the interlocking swinging member; a rigidity variable portion that varies rigidity of the elastic body seen from the interlocking swinging member; a first angle detection portion that detects a swinging angle; and a control portion that controls the rigidity variable portion according to the swinging angle detected by the first angle detection portion to adjust the rigidity of the elastic body seen from the interlocking swinging member.

Abstract: A control unit that relatively moves a headstock and tailstock and a tool to thereby machine a peripheral surface of a workpiece in a radial direction executes control such that a relative feed speed of the tool in the radial direction in a transitional state where an amount of warpage of the workpiece in the radial direction at a machining position increases is faster than a relative feed speed of the tool in the radial direction in a steady state where an amount of warpage of the workpiece in the radial direction at the machining position is constant. By so doing, it is possible to reduce a machining time at the time of the start of machining.

Abstract: In a grinding machine, a retraction grinding is performed after a first advance grinding. Within a rotational range for a cylindrical workpiece to rotate from a present rotational phase to a target rotational phase in the retraction grinding, target grinding resistances in respective rotational phases are generated based on residual grinding amounts in the respective rotational phases of the cylindrical workpiece. Then, the retraction grinding is performed and controlled to make a grinding resistance detected by a force sensor agree with the target grinding resistances in respective rotational phases.

Abstract: A control unit that relatively moves a headstock and tailstock and a tool to thereby machine a peripheral surface of a workpiece in a radial direction executes control such that a relative feed speed of the tool in the radial direction in a transitional state where an amount of warpage of the workpiece in the radial direction at a machining position increases is faster than a relative feed speed of the tool in the radial direction in a steady state where an amount of warpage of the workpiece in the radial direction at the machining position is constant. By so doing, it is possible to reduce a machining time at the time of the start of machining.

Abstract: In a grinding machine, a retraction grinding is performed after a first advance grinding. Within a rotational range for a cylindrical workpiece to rotate from a present rotational phase to a target rotational phase in the retraction grinding, target grinding resistances in respective rotational phases are generated based on residual grinding amounts in the respective rotational phases of the cylindrical workpiece. Then, the retraction grinding is performed and controlled to make a grinding resistance detected by a force sensor agree with the target grinding resistances in respective rotational phases.