Abstract: A motion assist device for assisting a periodical motion of a creature such as a human by applying a force with appropriate strength to the creature so as to match a motion scale with a desired motion scale thereof regardless of a motion rhythm of the periodical motion. According to the motion assist device (1), a second model is corrected so as to approximate a value of a motion variable (?) to a desired value (?0). A second oscillator (?2) is generated according to the corrected second model. A periodical force (torque) (T) applied to the human (P) is controlled according to the second oscillator (?2).

Abstract: The motion assist device (200) is provided with an auxiliary oscillator generation element (150) configured to generate, on the basis of a second intrinsic angular velocity (?2) set according to a first oscillator (?1) generated from a first motion oscillator (?1) and a first model and a second oscillator (?2) generated from a second motion oscillator (?2) and a second model, an auxiliary oscillator (?) which includes therein a first auxiliary oscillator (?1) denoting an elastic force originated from a virtual elastic element for assisting the motion of the user so as to approximate a value of a third motion oscillator (?3) to a desired value (?0+, ?0?) related to a desired motion scale of the user, and an auxiliary oscillator regulation element (160) configured to sequentially regulate the first auxiliary oscillator (?1) so as to approximate a motion index value of the user to a reference value.

Abstract: A system for managing exercise of an animal such as a human being so that the motion of the animal is induced with an appropriate scale and rhythm in accordance with the physiological conditions of the animal is provided. According to the exercise management system (1) of the present invention, during the process where the user's walking motion is induced by an operation of a walking motion induction device (20), a walking ratio (k) and a physiological variable such as consumed energy are measured. Then, the walking ratio (k) in the state where the physiological variable attains an appropriate value in consideration of activation of physical functions or reduction of body load of the user is set as a recommended walking ratio (k0). This ensures that the recommended walking ratio (k0) is set as appropriate in consideration of activation of the physical functions of the user or the like.

Abstract: A system for managing exercise of an animal such as a human being so that the animal can be trained to move with an appropriate scale and rhythm while harmonizing the motion of the animal with the operations of two devices which induce the motion of the animal in different manners, is provided. According to the exercise management system (1) of the present invention, the speed of the walking motion of the user is adjusted by an operation of a treadmill (first motion induction device) (10). The user's walking motion is induced with the motion scale being adjusted with a rhythm harmonized with the motion rhythm of the animal by an operation of a walking motion induction device (second motion induction device) (20). At this time, the operation of the walking motion induction device (20) is controlled based on the walking speed v (walking rate p, as required).

Abstract: According to a motion assisting device 10 of the present invention, “second setting processing” is exceptionally performed in a situation where it is likely that the motion mode of an agent P gets out of harmony with the operation mode of the motion assisting device 10, more specifically a situation where a deviation absolute value between a first phase difference and a desired phase difference is equal to or greater than a threshold value. Besides, only a single model may be used for arithmetic processing for generating a basic oscillator as an operation control basis of an actuator 15.

Abstract: The present invention provides a rehabilitation device using a walking assistance device (1) having an actuator which generates and provides torque to a lower limb joint of a wearer wearing the walking assistance device (1), comprising a floor reaction force pattern storing unit (330) configured to store a reference floor reaction force pattern; a control target floor reaction force setting unit (340) for determining a control target floor reaction force based on the floor reaction force pattern stored in the floor reaction force pattern storing unit (330); a target torque calculating unit (350) for calculating a target torque of the actuator to achieve the control target floor reaction force determined by the control target floor reaction force setting unit (340); and an actuator output controller (150) for controlling output of the actuator such that the actuator generates a torque matching the target torque calculated by the target torque calculating unit (350); wherein the floor reaction force that the we

Abstract: Provided is a motion assisting device capable of assisting a periodical walking motion of a creature so as to conduct a smooth motion of a leg thereof. According to the motion assisting device (10) of the present invention, an assisting force applied to the creature so as to assist a leg of the creature in moving with respect to a body thereof is reinforced by an increment in an auxiliary coefficient increased in a reinforcement duration. Accordingly, the stretch motion of the leg at the on-ground state is assisted by a relatively stronger assisting force. Thereby, the body is conducted to translate forward by a floor reaction force subjected to the leg at the on-ground state. A flexion motion of the leg at an off-ground state is induced by a reflex (stretch reflex) to the stretch motion of the leg by the assisting force at a previous off-ground state.

Abstract: The present invention provides a walking assistance device comprising a pelvis support member (10) adapted to be worn on a hip of a wearer; a thigh support member (20) adapted to be worn on a thigh of the wearer; a leg support member (40) adapted to be worn on a leg of the wearer; a knee joint hinge (60) disposed at a position corresponding to a side part of a knee of the wearer and connecting the leg support member (40) to the thigh support member (20) in a manner that enables back-and forth rotation of the leg support member (40) with respect to the thigh support member (20); and a power generator assembly (100) mounted to the pelvis support member (10) at a position corresponding to a side part of a hip joint of the wearer; wherein the power generator assembly (100) comprises a hip joint power generator (110) and a knee joint power generator (120) each having an output member (116, 126, respectively), with the output member (116) of the hip joint power generator (110) being connected to the thigh support m

Abstract: Provided is a device capable of assisting a periodical motion of a creature, such as a human, by applying a force to the creature so as to match a motion rhythm and a motion scale of the periodical motion to a desired motion rhythm and a desired motion scale, respectively, while reducing computation processing load. According to a motion assist device (10) of the present invention, a value of a member or a coefficient contained in a simultaneous differential equation of a state variable (ui) for defining a second model which generates a second oscillator (?2) is adjusted by means of an adjusting device (14). The second oscillator (?2) is generated by the adjusted second model and a torque (T) applied to a human (P) is controlled to vary periodically according to the second oscillator (?2).

Abstract: A device for inducing a user's motion in a rhythm responsive to a motion rhythm after the user's motion rhythm changes suddenly. The walking assist device generates a first oscillator which attains mutual entrainment with a user's hip joint angular velocity to reflect a natural angular velocity. On the other hand, a new natural angular velocity is set based on the phase difference between the hip joint angular velocity and the first oscillator. A second oscillator which oscillates in rhythm reflecting the natural angular velocity is generated. An inducing oscillator generated based on the second oscillator, and a torque responsive to the inducing oscillator acts on the user's body. If the magnitude of a periodic variation in the hip joint angular velocity exceeds a threshold value, a second oscillator which oscillates in rhythm reflecting the angular velocity of the first oscillator instead of the natural angular velocity is generated.

Abstract: A system for managing exercise of an animal such as a human being so that the animal can be trained to move with an appropriate scale and rhythm while harmonizing the motion of the animal with the operations of two devices which induce the motion of the animal in different manners, is provided. According to the exercise management system (1) of the present invention, the speed of the walking motion of the user is adjusted by an operation of a treadmill (first motion induction device) (10). The user's walking motion is induced with the motion scale being adjusted with a rhythm harmonized with the motion rhythm of the animal by an operation of a walking motion induction device (second motion induction device) (20). At this time, the operation of the walking motion induction device (20) is controlled based on the walking speed v (walking rate p, as required).

Abstract: A device for inducing a user's motion such that the user's motion rhythm and scale coincide, respectively, with a target rhythm and scale is provided. According to the inventive motion induction device, a first oscillator is generated which attains mutual entrainment with a motion oscillator in such a way as to reflect a natural angular velocity ?M. A new natural angular velocity ?M is set based on a phase difference (first phase difference) ?HM between the motion oscillator and the first oscillators. Further, a second oscillator is generated based on the new natural angular velocity ?M. An induction oscillator is then generated which includes a first induction oscillator, the first induction oscillator including the second oscillator and a first potential which brings the value of the motion oscillator responsive to the user's motion scale close to its target value according to the natural angular velocity ?M.

Abstract: A system for managing exercise of an animal such as a human being so that the motion of the animal is induced with an appropriate scale and rhythm in accordance with the physiological conditions of the animal is provided. According to the exercise management system (1) of the present invention, during the process where the user's walking motion is induced by an operation of a walking motion induction device (20), a walking ratio (k) and a physiological variable such as consumed energy are measured. Then, the walking ratio (k) in the state where the physiological variable attains an appropriate value in consideration of activation of physical functions or reduction of body load of the user is set as a recommended walking ratio (k0). This ensures that the recommended walking ratio (k0) is set as appropriate in consideration of activation of the physical functions of the user or the like.

Abstract: A device for assisting a user's motion in an appropriate rhythm by bringing a user's motion rhythm close to its target rhythm while harmonizing the motion rhythms of different parts of the user's body and a rhythm for assisting the user's motion is provided. The inventive walking assist device generates a first oscillator which attains mutual entrainment with a first motion oscillator in such a way as to reflect a natural angular velocity. A new natural angular velocity is set based on a phase difference between the first motion oscillator and the first oscillator. Further, a second oscillator which oscillates in a rhythm reflecting the natural angular velocity is generated based on a second motion oscillator. An assist oscillator is then generated based on the second oscillator, and a variable force responsive to the assist oscillator is applied to the user's body.

Abstract: A movement assist system for assisting stably a movement of a creature, particularly a creature whose body part is paralyzed due to neuropathy or the like. According to the movement assist system, walking movement of a human is assisted according to an output from an actuator of a movement assist device. A timing of an electrical stimulation applied to the creature is adjusted by an electrical stimulation device on the basis of a signal representing an arithmetic processing result by a first controller which controls the output of the actuator. According thereto, it is possible to apply an electrical stimulation to the human at an appropriate timing from the viewpoint of maintaining an appropriate posture by considering a periodical movement state of the human even in cases where the body function is degraded, allowing the human assisted by the movement assist device to continue the walking movement.

Abstract: A system capable of controlling an autonomous walking assist rhythm, while following changes in a walking rhythm of a walker at the same time. A control system 100 in accordance with the present invention generates a first oscillator x that tugs and is tugged by a walking oscillator (hip joint angular velocity) ?H? such that an intrinsic angular velocity is reflected. Then, a new intrinsic angular velocity ?m is determined on the basis of the difference between a first phase difference ?HM between the first oscillator x and the walking oscillator ?H? and a desired phase difference ?d. Furthermore, a second oscillator y is generated that tugs and is tugged by the walking oscillator ?H? such that the intrinsic angular velocity ?m is reflected, and has a second phase difference ?hm, which is closer to the desired phase difference ?d than the first phase difference ?HM is, with respect to the walking oscillator ?H?.