Control system for walking assist device

Abstract

A system capable of controlling an autonomous walking assist rhythm, while following changes in a walking rhythm of a walker at the same time. A control systemin accordance with the present invention generates a first oscillator x that tugs and is tugged by a walking oscillator (hip joint angular velocity) φ' such that an intrinsic angular velocity is reflected. Then, a new intrinsic angular velocity ωis determined on the basis of the difference between a first phase difference θbetween the first oscillator x and the walking oscillator φ′ and a desired phase difference θ. Furthermore, a second oscillator y is generated that tugs and is tugged by the walking oscillator φ′ such that the intrinsic angular velocity ωis reflected, and has a second phase difference θ, which is closer to the desired phase difference θthan the first phase difference θis, with respect to the walking oscillator φ′. Then, based on the second oscillator y and the walking oscillator (hip joint angle) φ, a walking assist oscillator (torque imparted to the walker by a walking assist unit) T is generated.