WALKING TYPE MOVING DEVICE AND WALKING CONTROL DEVICE THEREFOR AND WALKING CONTROL METHOD

Title:

WALKING TYPE MOVING DEVICE AND WALKING CONTROL DEVICE THEREFOR AND WALKING CONTROL METHOD

Document Type and Number:

WIPO Patent Application WO/2003/106112

Kind Code:

A1

Abstract:

A walking control device (30) which drive-controls the drive means of each joint (15L, 15R-20L, 20R) of each leg (13L, 13R) based on gait data, and which comprises force sensors (23L, 23R) each for detecting a force applied to the sole of each foot (14L, 14R), and a compensation unit (32) for correcting gait data from a gate generating unit (24) based on a horizontal floor reaction force out of forces detected by force sensors, wherein each force sensor (23L, 23R) consists of three-axis sensors (36a-36d) each provided in each sole section obtained by dividing each foot (14L, 14R) into a plurality of sections to allow a force sensor provided in a region adjacent to the end edge of each sole to detect the contact of a contact detection unit (32b) with a foot side surface and allow the compensation unit (32) to correct gait data from the gait generation unit (24) with reference to a contact with a foot side surface, whereby the contact of a foot side surface with an object such as an obstacle is detected to ensure walking stability.

Inventors:

FURUTA TAKAYUKI (JP)
TAWARA TETSUO (JP)
OKUMURA YU (JP)
KITANO HIROAKI (JP)
SHIMIZU MASAHARU (JP)

Application Number:

PCT/JP2003/007089

Publication Date:

December 24, 2003

Filing Date:

June 04, 2003

Export Citation:

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Assignee:

JAPAN SCIENCE & TECH CORP (JP)
FURUTA TAKAYUKI (JP)
TAWARA TETSUO (JP)
OKUMURA YU (JP)
KITANO HIROAKI (JP)
SHIMIZU MASAHARU (JP)

International Classes:

B25J5/00; A63H11/18; B25J13/08; B62D57/032; (IPC1-7): B25J5/00

Foreign References:

EP0433091A2	1991-06-19
JPH0679657A	1994-03-22

Other References: