Patent ID: 8202233

Claim:
A motion induction device for inducing a user's motion according to an induction oscillator, comprising: a motion oscillator measurement unit which measures first and second motion oscillators as parameters which change with respect to time according to a motion of a body of the user, and a third motion oscillator as a parameter which changes with respect to time according to a motion of the body of the user and representing a motion scale of the user; a first oscillator generation unit which generates a first oscillator as an output oscillator signal by inputting the first motion oscillator measured by the motion oscillator measurement unit as an input oscillator signal into a first model which attains mutual entrainment with the input oscillator signal and generates the output oscillator signal which changes with respect to time according to an angular velocity defined on the basis of a natural angular velocity; a natural angular velocity setting unit which newly sets the natural angular velocity so as to bring a first phase difference close to a target phase difference, the first phase difference being a phase difference between the first motion oscillator measured by the motion oscillator measurement unit and the first oscillator generated by the first oscillator generation unit; a second oscillator generation unit which generates a second oscillator as an output oscillator signal by inputting the second motion oscillator measured by the motion oscillator measurement unit as an input oscillator signal into a second model which generates the output oscillator signal which changes with respect to time according to an angular velocity defined on the basis of the natural angular velocity, the natural angular velocity being set by the natural angular velocity setting unit on the basis of the input oscillator signal; an induction oscillator generation unit which generates a first induction oscillator representing an elastic force by a virtual elastic element for inducing the user's motion so as to bring a value of the third motion oscillator measured by the motion oscillator measurement unit close to a target value responsive to a target motion scale of the user according to the second oscillator generated by the second oscillator generation unit and the natural angular velocity set by the natural angular velocity setting unit, and generates the induction oscillator including the first induction oscillator; and an actuator configured to induce the user's motion according to at least the generated induction oscillator via an orthosis portion.