Patent ID: 8428737

Claim:
A movement assist system for assisting a creature in moving, comprising: an ambulatory movement assist device configured to assist the creature during walking; and an electrical stimulation device; wherein the ambulatory movement assist device includes an orthosis mounted on the creature, an actuator connected to the orthosis, a movement sensor configured to sense a state of movement of the creature, and a first controller configured to control an amplitude and a phase of an output from the actuator, and to assist the creature in a periodical walking movement by applying an output which varies periodically from the actuator to the creature via the orthosis; the electrical stimulation device includes an electrode attached to the creature and a second controller configured to adjust an electrical stimulation applied to the creature on the basis of at least one of an output signal from the first controller and an output signal representing a movement state of the creature from the movement sensor, and wherein the electrical stimulation device assists the creature in producing a physical strength by applying the electrical stimulation to the creature via the electrode; the first controller includes: a movement vibrator determination element configured to determine a second movement vibrator which varies periodically according to a physical movement of the creature; and a second vibrator generation element configured to generate a second vibrator as an output vibration signal from a second model by inputting the second movement vibrator determined by the movement vibrator determination element as an input vibration signal to the second model which generates the output vibration signal varying at a specific angular velocity defined according to a second intrinsic angular velocity on the basis of the input vibration signal, the second vibrator serving as a control basis on the output of the actuator; and the second controller is configured to adjust the electrical stimulation applied to the creature on the basis of the output signal from the first controller which represents an arithmetic processing result of the second vibrator generation element.