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:
Oct. 29, 2013
Filed:
Apr. 14, 2011
Yosuke Endo, Wako, JP;
Yosuke Endo, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
Provided is a walking motion assisting device capable of assisting a leg of an agent in walking motion to alleviate an assisting burden or eliminate an assisting necessity by a caregiver. According to the walking motion assisting device (), the value of a persistent energy input term (ζ) contained in a simultaneous differential equation denoting a second model configured to generate a second motion oscillator (φ) is adjusted so as to limit a landing position (x) of a leg of the agent in a specified range [x, x]. Further, the motion state of the leg is recognized on the basis of a variation mode of a second oscillator (ξ), and on the basis of the recognition result, the relative motion between the thigh and crus of the leg around the knee joint is assisted.