Patent ID: 9314394
Filing Date: 2016-04-19
CPC Classification: A61H

Claim Text:
1. A control method for a motion assisting device provided with a pair of orthoses adapted to be mounted symmetrically on a pair of predetermined portions of a pair of limbs of a human being, respectively, and an actuator connected to each of the pair of orthoses, respectively, the control method being configured to control a variation pattern of an assisting force transmitted from the actuator to the pair of limbs via the pair of orthoses, respectively, and comprising: a first step of detecting variation patterns of values of a pair of posture variables for a certain period of time varying periodically with postures of the pair of predetermined portions, respectively, wherein the pair of posture variables are relative angles of the predetermined portions relative to a predetermined part of a torso of said human being to which a basal end of said predetermined portions is attached, and a second step of evaluating an asymmetry degree of motion patterns of the pair of limbs as a foundation of motion control of the actuator according to the variation patterns of the values of the pair of posture variables for the certain period of time, wherein at least one of a deviation between maximum values and a deviation between minimum values of each of the pair of posture variables for the certain period of time is calculated as the asymmetry degree based on the variation patterns of the values of the pair of posture variables, or the asymmetry degree is evaluated to become continuously or gradually higher as the deviation becomes greater based on the variation patterns of the values of the pair of posture variables in the second step.