Control program, control device, and control method

Abstract

This provides a technique for determining an appropriate amount of assistance using a quantitative method. [Solution] A control program relating to one aspect of this disclosure is a program for causing a computer to execute a control method. The control method includes setting the amount of assistance within a range in which the value of a muscle coordination index, which indicates the degree of coordination between a first muscle that initiates a target movement and a second muscle that causes movements other than the target movement, fluctuates in response to assistance from an assist robot, and controlling the operation of the assist robot to output the set amount of assistance force to the subject.

Claims

1. A control program that causes a computer to execute a control method, The control method described above is The amount of assistance is set within a range in which the value of the muscle coordination index, which indicates the degree of coordination between the first muscle that initiates the intended movement and the second muscle that causes movements other than the intended movement, fluctuates in response to assistance from the assist robot, and Controlling the operation of the assist robot to output the set amount of force to the subject, including, Control program.

2. The second muscle is the antagonist muscle of the first muscle, The muscle coordination index is the co-contraction index of the antagonistic muscles. The control program according to claim 1.

3. The second muscle works in conjunction with the first muscle, The muscle coordination index is the synergistic movement index of the second muscle. The control program according to claim 1.

4. The range in which the value of the muscle coordination index fluctuates is the range between the maximum and minimum values ​​of the second derivative of the muscle coordination index. The control program according to claim 1.

5. The control method further includes determining the range in which the value of the muscle coordination index fluctuates by measuring the value of the subject's muscle coordination index using a sensor while gradually increasing or decreasing the assisting force provided by the assist robot. The amount of assistance is set within the specified range. The control program according to claim 1.

6. The amount of assistance is set within a range in which the value of the muscle coordination index, which indicates the degree of coordination between the first muscle that initiates the intended movement and the second muscle that causes movements other than the intended movement, fluctuates in response to assistance from the assist robot, and Controlling the operation of the assist robot to output the set amount of force to the subject, A control unit configured to perform the following: Control device.

7. A control method performed by a computer, The amount of assistance is set within a range in which the value of the muscle coordination index, which indicates the degree of coordination between the first muscle that initiates the intended movement and the second muscle that causes movements other than the intended movement, fluctuates in response to assistance from the assist robot, and Controlling the operation of the assist robot to output the set amount of force to the subject, including, Control method.

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