Patent ID: 8986233
Filing Date: 2015-03-24
Classification: A61H

Abstract:
1. A leg assist device comprising: a leg attachment including: a controller that outputs commands to the actuator so that a swing angle of the lower link follows a target trajectory; wherein: the rotary joint of the leg attachment includes a one-way clutch that prohibits backward swing of the lower link and allows forward swing of the lower link; the controller executes: a first abnormality management process in which the controller shuts off torque transmission from the actuator to the user when the controller detects an abnormality before outputting the commands to the actuator, and a second abnormality management process in which the controller shuts off the torque transmission and engages the one-way clutch after outputting the commands to an end of the target trajectory, when the controller detects the abnormality after having started outputting the commands to the actuator and the lower link is in swinging motion.