Honda Motor Co., Ltd.

Eiji Ninomiya

Yasushi Ikeuchi

Yoichi Nishimura

Jun Ashihara

Takeshi Koshiishi

Hiroshi Kudoh

Yoshihisa Matsuoka

Yutaka Hiki

Tatsuya Noda

Hiroshi Matsuda

Makoto Shishido

Shinzo Urushidani

Toru Fujihira

Ryuzo Yokoyama

An autonomous mobile apparatus (R) at a reference position () is confronted to a subject (T) with a predefined distance. The autonomous mobile apparatus (R) is rotated at the reference position () to confront plural directions sequentially. The subject (T) is detected every time when the autonomous mobile apparatus (R) is rotated to confront each direction to determine whether or not it is functioning normally.

Performance inspection method for autonomous mobile apparatus, and performance inspection sheet therefor

A power transmission system, which transmits a driving force from a rotary actuator to a third joint of a leg link, applies a driving torque to the third joint from an output shaft of the rotary actuator via a driving crank arm, a connecting rod, and a driven crank arm. A translational force (rod transmitting force) generated at the connecting rod in the longitudinal direction thereof is measured on the basis of an output of a force sensor fixed to the connecting rod. With the rod transmitting force or a driving torque applied to the third joint by the rod transmitting force as a controlled variable, the driving force of the rotary actuator is feedback-controlled according to the measured value of the rod transmitting force and a desired value of the controlled variable so that the controlled variable coincides with the desired value.

Walking assist device

Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.

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Tochigi, Japan

Eiji Ninomiya