A training device capable of converting kinetic energy of an agent into electric energy while applying to the agent a resistance force of a variation behavior appropriate to a motion behavior of the agent. According to the training device, a strength and a direction of a resistance force applied to the agent can be varied via a regenerative braking on a motor according to at least one of a variation behavior of a relative posture between an upper body and a leg of the agent and a temporal variation behavior of the relative posture therebetween.

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A power generating leg, configurable to be coupled to a person’s lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit The knee mechanism is connected to said thigh link and said shank link, and allows movements of said thigh link and said shank link relative to each other The torque generator is configured to generate torque between said shank link and said thigh link The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque In a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link and said power unit converts a portion of the power associated with the product of said torque into electrical power to be stored in a storage device.

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A body-weight support system that allows individuals with severe gait impairments to practice over-ground walking in a safe, controlled manner is disclosed. The system includes a body-weight support system that rides along a driven trolley and can be controlled in response to the movement of the subject using the system.

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A control device and a control program of a walking assisting device, wherein a desired assist ratio, which is a desired value of the ratio of a force to be supplied by a walking assisting device (1) in a total tread force of a user (A) relative to the total tread forces is set, the shares of a lifting force to be applied to the user (A) from a seating part (2) which are to be borne by the leg links (3L, 3R) are determined from the desire assist ratio and the tread forces of the legs of the user (A) measured on the basis of outputs of force sensors (38, 38, 39, 39), and actuators (27, 27) of the leg links (3L, 3R) are controlled such that the determined shares of the lifting force are generated from the leg links (3L, 3R). Thus, a force required for the user (A) to support himself/herself by his/her legs on a floor can be reduced while reducing the number of parts to be attached to each leg of the user (A), and an assisting force for achieving such reductions can be properly shared between the leg links (3L, 3R) corresponding to the legs of the user (A).

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Currently, full body exoskeletons still lack movabili-ty in their back and shoulder parts, resulting in limited applicability in, e.g., nursing care. An exoske-letal spine and shoulder mechanism called “exo-spine” has therefore been developed with the purpose of allowing 3 degree of freedom (DOF) spinal motion and 2 DOF shoulder girdle abduction. It consists of a mechanism of vertebras, shoulder blades, and two cables for actuation such that only one motor is requir-ed. Control equations were obtained through measurements and friction analysis. Experiments were performed with a subject wearing the exo-spine in a simplified full body exoskeleton. The wearer was able to lift up to 40 kg using all DOF of the system. From this we confirmed the exo-spine’s 5 DOF movability and lifting performance. Next, the exo-spine will be installed in HAL exoskeletons in order to increase their usabili-ty in health care settings.

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