JOINT- MOVEMENT ASSISTING DEVICE
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United States of America Patent
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app pub date -
Apr 22, 2016
filing date -
Aug 28, 2014
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Abstract
A joint-movement assisting device including: (i) an assist force control member to adjust an output level of a driving member in order to bring a load acting on an assist force transmission part to a targeted assist force during action of an assist force; (ii) a slack prevention control member to operate the driving member and exert a bias force on the assist force transmission part in order to eliminate a slack thereof during non-action of the assist force; and a load sensor to detect the load acting on the assist force transmission part in a direction of tension. For at least one of the assist force control member and the slack prevention control member, the driving member is feedback-controlled based on a detection value by the load sensor in order to bring the acting load to the targeted assist force or bias force.
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