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:
Jul. 07, 2026
Filed:
Dec. 19, 2023
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Toyota School Foundation, Nagoya, JP;
Masashi Yamashita, Miyoshi, JP;
Yuhei Yamaguchi, Toyota, JP;
Hitoshi Yamada, Toyota, JP;
Tatsuo Narikiyo, Nagoya, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
TOYOTA SCHOOL FOUNDATION, Nagoya, JP;
Abstract
A power assist system according to the present disclosure includes: a robot that is worn by a user, the robot including a drive source that assists action of the user; an interference force estimation unit that estimates an interference force given from the user to the robot; an admittance model that generates a target velocity in a virtual object having a predetermined dynamic characteristic, the target velocity corresponding to the interference force estimated by the interference force estimation unit; and a control unit, in which the interference force estimation unit includes: a disturbance observer that detects a disturbance based on the momentum of the robot; and an estimation unit that estimates the interference force depending on the disturbance detected by the disturbance observer, using an ESN learning model for which learning about the interference force depending on the disturbance is performed while weights in a reservoir layer are stochastically assigned.