PROBLEM TO BE SOLVED: To provide a force imparting device for imparting output torque of an electric motor to movements of a user, the force imparting device combining followup ability to change in the movement of the user with stability.SOLUTION: A rotational speed target value Vcmd1 of an electric motor is determined on the basis of a deviation Terr1 between a torque target value Tcmd and the actual measurement value Tact of the output torque of the electric motor. In a frequency band in which the fluctuating frequency of the rotational speed of the electric motor is equal to or higher than the fluctuating frequency of the movement of the user, the electric motor is controlled on the basis of the deviation Verr between the rotational speed target value Vcmd1 and a rotational speed actual measurement value Vact. In a frequency band in which the fluctuating frequency of the rotational speed of the electric motor is lower than the fluctuating frequency of the movement of the user, the electric motor is controlled on the basis of the deviation Verr between the rotational speed target value Vcmd1 and a detected rotational speed Vact, the Vcmd1 being used and the Vact being detected when the detected rotational speed Vact is lowered to 0 or close to 0.COPYRIGHT: (C)2013,JPO&INPIT【課題】 利用者の動作に対して電動機の出力トルクを付与する力付与装置において、利用者の動作の変化に対する追従性と安定性を両立させた力付与装置を提供する。【解決手段】 トルク目標値Tcmdと電動機の出力トルクの実測値Tactとの偏差Terr1に基づいて回転速度目標値Vcmd1が決定される。電動機は、その回転速度の変動周波数が、利用者の動作の変動周波数以上の周波数帯域においては、回転速度目標値Vcmd1と回転速度実測値Vactとの偏差Verrに基づいて制御され、利用者の動作の変動周波数より低い周波数帯域においては、検知された回転速度Vactを0又は0の近くまで低下させたときの回転速度目標値Vcmd1と検知された回転速度Vactとの偏差Verrに基づいて制御される。【選択図】 図5
