Control system for walking assist device

Details Control system for walking assist device Control system for walking assist device

2011-02-01

2011-02-01

Chang, Joseph (Department: 2817)

Oscillators

With device responsive to external physical condition

C600S595000, C623S025000, C623S030000

Reexamination Certificate

active

07880552

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 system100in accordance with the present invention generates a first oscillator x that tugs and is tugged by a walking oscillator (hip joint angular velocity) φH′ such that an intrinsic angular velocity is reflected. Then, a new intrinsic angular velocity ωmis determined on the basis of the difference between a first phase difference θHMbetween the first oscillator x and the walking oscillator φH′ and a desired phase difference θd. Furthermore, a second oscillator y is generated that tugs and is tugged by the walking oscillator φH′ such that the intrinsic angular velocity ωmis reflected, and has a second phase difference θhm, which is closer to the desired phase difference θdthan the first phase difference θHMis, with respect to the walking oscillator φH′. Then, based on the second oscillator y and the walking oscillator (hip joint angle) φH, a walking assist oscillator (torque imparted to the walker by a walking assist unit200) T is generated.

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WO 95/01141, Constant Torque Range-of-Motion Splint, Publication Date: Jan. 12, 1995.

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