下肢駆動装置
- 专利权人:
- 株式会社安川電機
- 发明人:
- 近藤 正志
- 申请号：
- JP2007251697
- 公开号：
- JP5045338B2
- 申请日:
- 2007.09.27
- 申请国别(地区):
- JP
- 年份:
- 2012
- 代理人:
- 摘要：
PROBLEM TO BE SOLVED: To provide a lower limb driving device which solves the problem that a conventional lower limb driving device does not take the empty weight of legs into consideration and imposes a burden on a teaching person since the teaching person needs to support the empty weight of the legs.
SOLUTION: In the lower limb driving device which is equipped with driving parts 210, 211 for moving the femoral part 203 and the lower thigh part 205, force detectors 206, 207 for detecting loads from the femoral part and the lower thigh part respectively, and impedance control parts 215, 216 for flexibly controlling each driving part in accordance with load information from the force detectors 206, 207, the lower limb driving device is equipped with a lower limb empty weight estimating part 222 for estimating the empty weight of the femoral part 203 and the lower thigh part 205 and lower limb empty weight compensation parts 220, 221 for calculating an offset value corresponding to each of the empty weight of the femoral part and the lower thigh part to cancel the empty weight of the femoral part 203 and the lower limb part 205 in teaching and training.
COPYRIGHT: (C)2009,JPO&INPIT
- 来源网站：
- 中国工程科技知识中心
