The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 31, 2020
Filed:
Mar. 24, 2017
Kabushiki Kaisha Yaskawa Denki, Kitakyushu-shi, JP;
Hideo Nagata, Kitakyushu, JP;
Akira Yoshida, Kitakyushu, JP;
Yuko Ikeda, Kitakyushu, JP;
Yoshie Nakanishi, Kitakyushu, JP;
Yoshie Murayama, Kitakyushu, JP;
KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu-Shi, JP;
Abstract
A controller for a motion assisting apparatus for a wearer includes circuitry. The circuitry is configured to set switching points in a change in a turning angle of a drive mechanism driven by a drive motor and attached to an ankle joint of the wearer to assist a turning motion of the ankle joint, a ratio of the change in the turning angle being equal to zero at the switching points. The circuitry is configured to set a motion pattern such that the turning angle monotonically increases or monotonically decreases between the switching points. The circuitry is configured to control the drive motor to change the turning angle according to the motion pattern.