Patent ID: 8317732

Claim:
A motion assist device which comprises an orthosis adapted to be mounted on a creature, an actuator connected to the orthosis, and a controlling device configured to control an amplitude and a period or phase of an output of the actuator, and assists a periodical motion of the creature by applying the output to the creature through the orthosis, the controlling device including: a motion oscillator determination element configured to determine a motion oscillator as a variable which periodically varies according to the motion of the creature; a single oscillator generation model stored on the controlling device, the single oscillator generation model defined by a simultaneous differential equation of a plurality of state variables representing a behavior state of the creature for generating an output oscillation signal varying at an angular velocity defined according to an intrinsic angular velocity on the basis of an input oscillation signal; an oscillator generation element configured to generate an oscillator as the output oscillation signal from the single oscillator generation model stored on the controlling device by inputting the motion oscillator determined by the motion oscillator determination element as the input oscillation signal to the single oscillator generation model so as to generate the oscillator; and an adjusting device configured to adjust a value of a member or a coefficient contained in the simultaneous differential equation of the single oscillator generation model, wherein the controlling device is configured to control the amplitude and the period or phase of the output of the actuator using the oscillator as a control basis, the single oscillator generation model is an only oscillator generation model stored on the controlling device, and the single oscillator qeneration model is an only oscillator generation model used to generate the oscillator.