PROBLEM TO BE SOLVED: To provide a method for generating a controlling pattern or the like which easily generates the controlling pattern for an operation assisting apparatus for walking for rehabilitation matched to a patient.SOLUTION: An assisting means (10) of the operation assisting apparatus (S) is mounted on the knee joint part of the leg of a person to be assisted, and assists the bending operation of the knee joint part accompanied with the walking. The heel data Sh, the bending angle (&thetak) of the knee joint part, and the bending angle (&thetaH) of the crotch joint part of the leg mounted with the assisting means for detecting separation of the heel from the walking face 65 is detected (S3). Based on the detected heel data, a leg free period (T2) during which the heel is separated from the walking face, is predetermined (S5). The extreme value timing tb at which the bending angle of the knee joint part reaches the extreme value is predetermined (S6). The value of the bending angle of the crotch joint part at the extreme value timing is set at a threshold value angle &thetaH1 at the bending angle of the crotch joint part (S7 and S8). Based on the threshold value angle, a controlling pattern for switching assistance of the bending operation by the assisting means to assistance of the extension operation at the free leg period, is generated (S9).COPYRIGHT: (C)2012,JPO&INPIT【課題】患者に合わせたリハビリ用歩行のための動作補助装置の制御パターンを容易に生成する制御パターン生成方法等を提供する。【解決手段】被補助者の脚の膝関節部に装着されており、歩行に伴う当該膝関節部の屈曲動作を補助する動作補助装置(S)の補助手段(10)が装着されている脚の踵が、歩行面65から離れたことを検出するための踵データSh、膝関節部の屈曲角度(θk)、および、脚の股関節部の屈曲角度(θH)を検出し(S3)、検出された踵データに基づき、踵が歩行面から離れている遊脚期(T2)を特定し(S5)、膝関節部の屈曲角度が極値になる極値タイミングtbを特定し(S6)、極値タイミングにおける股関節部の屈曲角度の値を、股関節部の屈曲角度における閾値角度θH1に設定し(S7、S8)、閾値角度に基づき、遊脚期において補助手段による屈曲動作の補助から伸展動作の補助に切り替えるための制御パターンを生成する(S9)。【選択図】図4
