公开(公告)号：US20170273853A1

公开(公告)日：2017-09-28

申请号：US15468120

申请日：2017-03-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo NAGATA ,  Akira YOSHIDA ,  Yuko IKEDA ,  Yoshie NAKANISHI ,  Yoshie MURAYAMA

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61B5/1038 ,  A61B5/1071 ,  A61B5/1114 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/1124 ,  A61B5/4836 ,  A61B5/6812 ,  A61B5/6823 ,  A61B5/6828 ,  A61B5/6829 ,  A61B2505/09 ,  A61B2562/0219 ,  A61B2562/0247 ,  A61H1/0266 ,  A61H2003/007 ,  A61H2201/1207 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5028 ,  A61H2201/5043 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2205/106

Abstract: A controller for a motion assisting apparatus for a wearer includes circuitry. The circuitry is configured to set switching points in a change in a turning angle of a drive mechanism driven by a drive motor and attached to an ankle joint of the wearer to assist a turning motion of the ankle joint, a ratio of the change in the turning angle being equal to zero at the switching points. The circuitry is configured to set a motion pattern such that the turning angle monotonically increases or monotonically decreases between the switching points. The circuitry is configured to control the drive motor to change the turning angle according to the motion pattern.