MOVEMENT ASSISTANCE DEVICE, AND SYNCHRONY BASED CONTROL METHOD FOR MOVEMENT ASSISTANCE DEVICE
Provided are a movement assistance device that is worn and generates a movement pattern synchronized with the wearer while maintaining a constant phase difference between the movements of the wearer and the device, and a synchrony based control method therefor. The phase of the torque generated by a movement of a wearer is acquired. The value of said phase is input and is fitted to a phase oscillator model and a computation is performed to calculate the target torque and target angle of the device, the movement of which is synchronized with the wearer. Controlling the device based on the calculated values makes it possible to improve the effectiveness of assistance by the device.