PROBLEM TO BE SOLVED: To provide human body mounted type robotic wear achieving synchronization control using a neural oscillator with respect to lower extremity four joints when a human walks.SOLUTION: In a lower extremity four-joint control system 1, focusing on a knee joint drawing a characteristic motion trajectory for absorbing impact, trajectory control of the knee joint is executed by grasping the motion trajectory as two-cycle motion having different amplitudes composed of a standing leg phase and a free leg phase constituting one walking motion during one walking cycle. By giving an appropriate amplitude magnification and offset value to a signal between minimal values output from a knee joint neural vibrator 8, a knee joint control trajectory is generated which is defined by two-cycle waveform connecting smoothly a standing leg phase one-cycle waveform and a free leg phase one-cycle waveform having different amplitudes. An knee joint actuator 3 can be driven in line with the control trajectory which is generally the same as a human joint angle trajectory and exerts no discomfort to a wearing person in all of lower extremity four joints.SELECTED DRAWING: Figure 15COPYRIGHT: (C)2017,JPO&INPIT【課題】ヒト歩行時の下肢4関節に対して神経振動子を用いた同調制御を実現する、人体装着型のロボティックウエアを提供する。【解決手段】下肢4関節制御システム1では、ヒトの膝関節は衝撃を吸収するために特徴的な運動軌道を描くことに着目し、それを1歩行周期の間に、1歩行運動を構成する立脚相および遊脚相からなる異なる振幅の2周期運動と捉えて膝関節の軌道制御を行う。膝関節神経振動子8出力の極小値間の信号に対して適切な振幅倍率とオフセット値を与えることによって、振幅の異なる立脚相1周期波形と遊脚相1周期波形とが滑らかに接続された2周期波形によって規定される膝関節制御軌道を生成する。下肢4関節すべてにおいてヒトの関節角軌跡とほぼ同一で、装着者に違和感を与えない制御軌道に沿って膝関節アクチュエータ3を駆動できる。【選択図】図15
