JP2004255031A - Control method of limb driving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a limb driving device that realizes such rehabilitation therapy patterns as done in manipulation and can efficiently perform a rehabilitation. <P>SOLUTION: In a control method of a limb driving device having an arm having at least two degrees of freedom and an ankle shaft provided at the tip of the arm and operating the ankles of the limbs and driving the limbs, the left leg or the right leg to be driven is selected (S2), a therapeutic pattern of bending and extension of the groin and the knee of the limbs and dorsiflexion and plantar flexion of the ankle is selected (S3), at least one condition for the angle of the ankle shaft or torque of the ankle joint shaft is inputted (S4 and S5), track information for driving the limb in accordance with the therapeutic pattern and the condition is generated (S7) and ankle information driving the arm and the ankle shaft is generated from the track information (S8) and the limbs are driven on the basis of the ankle information. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention is a limb driving device such as a rehabilitation support device or a training device used for restoring the function of the limb, particularly to a lower limb driving device for driving the lower limb, effectively treating or training, The present invention relates to a method of controlling a limb driving device that can be appropriately performed.
[0002]
[Prior art]
A rehabilitation support device and a training device used for restoring the function of a limb with reduced muscular strength include a lower limb driving device that can smoothly move the lower limb without imposing an excessive load on the lower limb. In this conventional example, the operation of the lower limb is controlled by a control device and includes a motion mechanism for the thigh that applies force to the thigh to rotate the hip joint and a motion mechanism for the lower leg that applies force to the lower leg to rotate the knee joint. A first drive shaft mounted on a base, driven by a motor built in the base, connected to the first drive shaft by a link member, and a first drive An interlocking drive shaft mechanically reversely rotated by the same angle as the shaft rotates, a rotatable free joint connected to the interlocking drive shaft by a link member, a slide mechanism connected to the free joint, and the slide mechanism A thigh mounting portion fixed to the thigh and fixing the thigh, the lower leg exercise mechanism is mounted on the base, and a second drive shaft driven by a motor built in the base, the second drive shaft; Connected with shaft and link member A third drive shaft driven independently of the second drive shaft by a motor built in the base, a rotatable free joint connected to the third drive shaft by a link member, It is composed of a free rotation part connected to a free joint, and a lower leg mounting part fixed to the free rotation part and fixing the lower leg.
With such a configuration, it is possible to absorb a position shift occurring in the mounting portion and an unreasonable load on the lower limb, so that the lower limb can be smoothly driven, and the knee joint and the hip joint can be bent and extended. (For example, Patent Document 1).
[0003]
[Patent Document 1]
JP 2001-162304 A
[Problems to be solved by the invention]
In the rehabilitation treatment of the lower limbs by the procedure, when flexing the knee joint, the ankle joint is dorsiflexed with the tension of the gastrocnemius muscle relaxed, and the angle of the ankle joint is maintained, and the patient's ankle joint is maintained. While monitoring the load, the knee joint is extended so that an appropriate load is applied to the patient, whereby efficient stretching of the gastrocnemius muscle according to the patient's lower limb condition is performed. The reason for performing ankle dorsiflexion during this treatment is that the ankle movement angle is related to the knee joint angle, etc., and can be increased in the dorsiflexion direction when the gastrocnemius muscle is loosened. is there.
However, conventional rehabilitation devices operate on a linear motion track such as a CPM, and are capable of independently operating flexion and extension of the hip and knee joints and dorsiflexion and plantar flexion of the ankle joint. Although she could, she could not effectively perform the dorsiflexion and plantarflexion of the ankle joint in conjunction with the flexion and extension of the hip and knee joints. Further, even in a rehabilitation device having an arm having two or more degrees of freedom, there is no rehabilitation device capable of simultaneously controlling the leg and the ankle joint. Therefore, up to the level of the independent motion of the knee joint and the hip joint (CPM), the independent motion of the ankle joint, and the linked operation of the knee joint and the hip joint (SLR) as shown in FIG.
[0005]
Recently, it has been reported that early rehabilitation immediately after onset leads to early rehabilitation of patients, and a device that can perform treatment or training effectively and appropriately in an intensive care unit or the like has been developed. There is a growing need in the field.
The present invention has been made in order to solve the problems of the prior art as described above, and when the patient performs treatment or training, it is an efficient rehabilitation treatment pattern that could not be realized with conventional devices. While simultaneously controlling the angle of the leg and the ankle joint, it is operated at a preset therapeutic trajectory of the lower limb, and by controlling the force at the ankle joint, it is synchronized with the flexion / extension operation of the hip and the knee joint in advance. By controlling the set dorsiflexion / plantar flexion angle or torque of the ankle joint, a rehabilitation treatment pattern as performed by a procedure is realized, and an efficient and appropriate load is applied to the patient. It is an object of the present invention to provide a limb driving device capable of stretching a gastrocnemius muscle.
[0006]
[Means for Solving the Problems]
In order to solve the above problem, the control method of the limb driving device according to claim 1 selects the left leg or the right leg of the limb to be driven, and flexes and extends the crotch and the knee of the limb and the limb. Select a treatment pattern for dorsiflexion and plantar flexion of the ankle joint, input at least one condition of the angle of the ankle joint axis or the torque of the ankle joint axis, and drive the limb according to the treatment pattern and the condition Trajectory information to be generated, ankle joint information for driving the arm and the ankle joint axis to be generated from the trajectory information, and the limb to be driven based on the ankle joint information.
According to the limb driving device according to claim 1, a lower limb rehabilitation treatment pattern as performed by a technique is realized, an efficient and appropriate load can be applied to the patient, and the gastrocnemius muscle can be stretched. Become.
[0007]
The treatment pattern according to claim 2 is a pattern for selectively executing a pattern for controlling the angle of the foot-related axis and a pattern for controlling the torque of the ankle joint axis.
According to the limb driving device according to claim 2, a lower limb rehabilitation treatment pattern as performed by a technique is realized, an efficient and appropriate load can be applied to the patient, and the gastrocnemius muscle can be stretched. Further, an appropriate rehabilitation treatment pattern suitable for the patient's lower limb condition can be easily selected and executed.
[0008]
The control method of a limb driving device according to claim 3, comprising: an arm having at least two degrees of freedom; and an ankle joint shaft provided at a tip of the arm and operating an ankle joint of the limb, and driving the limb. In the control method, the left leg or the right leg of the limb to be driven is selected, and a treatment pattern A for flexion and extension of the crotch and the knee of the limb and dorsiflexion and plantar flexion of the ankle joint of the limb is set. Is maintained as the extension position, the treatment pattern B for the flexion and extension of the hips of the limb and the dorsiflexion and plantar flexion of the ankle joint is set, and the preset execution cycles of the treatment pattern A and the treatment pattern B are each set to n. , M, and input at least one condition of the angle of the ankle joint axis or the torque of the ankle joint axis, and drive the limb according to the treatment pattern A and the treatment pattern B and the condition. And generating ankle information for driving the arm and the ankle axis from the trajectory information, executing the n-th cycle of the treatment pattern A based on the ankle information, B is executed for the m cycles, and the treatment pattern A and the treatment pattern B are repeatedly executed a preset number of times.
According to the control method of the limb driving device according to the third aspect, it is possible to realize a lower limb rehabilitation treatment pattern as performed by a procedure, efficiently and appropriately apply a load to the patient, and stretch the gastrocnemius muscle. Becomes possible. In addition, an increase in blood flow in the lower limbs of the patient can be expected.
[0009]
The ratio of n and m in each of the execution cycles according to claim 4 is n: m = 3: 1.
According to the fourth aspect, a lower limb rehabilitation treatment pattern as performed by a procedure is realized, an efficient and appropriate load can be applied to a patient, and stretching of the gastrocnemius muscle becomes possible. Further, a further increase in blood flow in the lower limbs of the patient can be expected.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Before describing a control method of a limb driving device according to an embodiment of the present invention, a schematic configuration of the limb driving device will be described with reference to FIG. FIG. 1 is a diagram showing a limb driving device according to the present invention. FIG. 1A is a conceptual diagram, and FIG. 1B is a perspective view showing one embodiment. The limb driving device 100 shown in FIG. 1A includes a limb driving unit 10 and a pedestal unit 20. The limb driving unit 10 includes a limb mounting unit 11 mounted on a limb 101 for performing treatment or training, an arm 13 having at least two degrees of freedom for operating the limb mounting unit 11, and a driving unit 14 for driving an ankle joint shaft 12. And a limb drive control unit 70 for controlling the limb drive mechanism 60. The limb drive control unit 70 selects a patient name to be treated or one of the right and left limbs of the limb 101, selects a previously prepared treatment pattern, and drives a limb according to the selected treatment pattern. A condition input unit 17 for inputting the operation condition of the above, a trajectory generation unit 16 for generating trajectory information of the limb according to the input operation condition, and an operation control unit 15 for instructing a trajectory command based on the generated trajectory information. . The limb driving device 100 described here is movable, and the pedestal portion 20 fixes the limb driving device 100 itself after being moved by the moving means 30 for moving the limb driving device 100 itself and the moving means. And a lifting means 50 for lifting and lowering the limb driving unit 12.
[0011]
Further, in the limb driving mechanism 60, the arm 14 and the ankle joint 12 are driven by the driving unit 14 based on the trajectory information of the arm 13 and the trajectory information of the ankle joint 12 generated by the motion control unit 15. It operates by instructing the motor drive command. At this time, the position and speed of each axis and the impedance are controlled, and the torque of each axis can be detected in real time from the force sensor and the current value of the motor. A limb attachment part 11 is provided at a tip of the ankle joint shaft 12.
In FIG. 1B, for a patient lying on the bed, the limb driving device 100 is moved to the side of the bed by the moving means 30 in the pedestal portion 20, and is adjusted to the patient's leg by using the elevating means 50. The height is adjusted and fixed by fixing means 40. Thereafter, one aspect in which a patient's leg is attached to the limb attachment unit 11 to perform treatment or training is shown as a perspective view.
[0012]
In such a limb driving device, the operation of the first embodiment of the present invention will be described with reference to FIGS.
FIG. 2 is a flowchart for controlling the positions and postures of the legs and ankles by the operation of the arm and the ankle joint. The condition input unit 17, the trajectory generation unit 16, the operation control unit 15, and the limb drive shown in FIG. 3 shows the processing contents in the mechanism section 60. First, the patient's name is input from the operation unit 71, which is the condition input unit 17, and the left and right legs on which treatment or training is desired are selected. After that, a treatment pattern as shown in FIG. 5 is selected. When a patient name input, left and right leg selection, and a treatment pattern are selected, parameters corresponding to a preset treatment pattern are selected.
[0013]
Next, only when there is a treatment pattern for operating the ankle joint axis, according to each treatment pattern, “input an ankle joint angle”, “input a torque value applied to the ankle joint”, or “input an ankle joint angle”. , And the torque value applied to the ankle joint ”. When inputting, a pattern for controlling the angle of the ankle joint axis and a pattern for controlling the torque of the ankle joint axis can be selectively executed according to the contracted state of the ankle joint of the patient. . In other words, when the contraction of the ankle is advanced, it is possible to stop the operation when the set angle of the ankle is detected and the torque applied to the set ankle or more is detected while maintaining the set angle of the ankle. . If the contraction of the ankle is relatively light, the operation speed is reduced or the operation is stopped if the torque value applied to the set ankle is detected while operating at the set angle of the ankle. It is also possible.
Based on these input values, the trajectory generation unit 16 generates trajectory information of the arm and ankle joint axis and ankle joint information according to the treatment pattern. Based on the generated trajectory information and ankle joint information, the operation control unit 15 issues an operation command to the limb drive mechanism unit 60 to each axis of the arm and the axis of the ankle joint, so that each axis of the arm and the ankle joint Position / speed / torque control for the shaft is performed.
[0014]
The limb drive mechanism 60 can detect the position, speed, and torque of each axis of the arm and the ankle axis motor during the operation command. The feedback to 15 makes it possible to realize the selected desired treatment pattern. In particular, since the leg and ankle joints can be operated at the preset therapeutic trajectory of the lower limb while controlling the angle at the same time, and the force control at the ankle joint can be performed, it is synchronized with the flexion and extension of the hip and knee joints In this way, it is possible to control a preset angle of the dorsiflexion / plantar flexion operation or torque of the ankle joint.
Here, the trajectory information generation processing in the trajectory generation unit 16 will be described in more detail with reference to FIG. According to each treatment pattern, "calculate the target position / posture of the leg / ankle", "calculate the control position of the leg", "calculate the angle of the ankle at the control position", and "calculate the limb position". Is performed, and “conversion to arm control coordinates” is performed, and “calculation of angles of each arm axis and ankle joint axis” is performed.
[0015]
Further, the operation command processing for each axis of the arm and the axis of the ankle joint in the operation control unit 15 will be described in more detail with reference to FIG. An example will be described in which the operation control unit 15 issues a torque command to each axis based on the trajectory information generated by the trajectory generation unit 16. Here, the control of the arm and the ankle joint axis by a torque command will be described, but the command of the arm axis motor may be a position command. First, each axis target angle is calculated, and the real-time load torque value of each axis sent from the limb drive mechanism unit 60 is obtained. Here, the required output torque of each axis is calculated by comparing the ankle load torque set value according to the treatment pattern and the real-time load torque value in advance, and the ankle axis torque command is output from the limb drive mechanism unit 60. By outputting to the drive unit 14 and outputting an operation command to each axis of the arm, the operation of each axis is controlled. In particular, the ankle axis is controlled by generally used impedance control.
[0016]
FIG. 5 shows two types of specific limb treatment patterns. The above-described treatment pattern performed by “inputting the torque value applied to the ankle joint” or “inputting the angle of the ankle joint and the torque value applied to the ankle joint” corresponds to “three joints 1 (cusp)”. The treatment pattern performed by “inputting the angle of the ankle joint” described above corresponds to “3 joints 2 (hip joint)”. The parameters for the “3 joints 1 (tip foot)” pattern are the angle of the hip joint, the angle and torque value of the ankle joint when the hip and knee are in the extended position, and the holding time in this posture. The angle of the hip joint, the angle and torque value of the ankle joint, and the holding time in this position.When the hip / knee flexes / extends, `` loads the ankle joint, Or add dorsiflexion movements. The parameters in the “3 joint 2 (hip joint)” pattern are the angle of the hip joint and the angle of the ankle joint when the hip / knee is in the extended position, and the holding time in this posture. Angle of the hip joint and the holding time in this posture, and it becomes possible to "add a plantar flexion / dorsiflexion motion to the ankle joint" when the hip / knee flexes / extends.
[0017]
Next, the operation of the second embodiment will be described with reference to FIG. Note that the schematic configuration of the limb driving device is the same as the content described with reference to FIG. 1 in the first embodiment of the present invention, and the positions and postures of the legs and ankles regarding the movement of the arm and the ankle joint axis are described. Flow chart for control (FIG. 2), processing flow relating to trajectory information generation processing in the trajectory generation unit (FIG. 3), processing flow relating to an operation command processing unit for each arm axis and ankle joint axis in the operation control unit (FIG. 4) The same applies to the figure (FIG. 5) showing two types of treatment patterns.
FIG. 6 shows that "3 joint 2 (hip joint)" enables the ankle to perform plantar flexion and dorsiflexion when the hip and knee shown in the lower part of FIG. 5 bend and extend. ": Treatment pattern A and" SLR (Hamst) ": Treatment pattern B that enables independent motion of the ankle joint and interlocking motion of the knee and hip joints realized by the conventional device as shown in FIG. are doing. These two treatment patterns A and B are combined, that is, "3 joints 2 (hip joint)": The treatment pattern A is executed for a predetermined n cycles, and then "SLR (hamst)": The treatment pattern B is previously determined. The set m-cycles are executed, and the treatment pattern in which the combination of the treatment pattern A and the treatment pattern B is repeated a preset number of times is referred to as a “blend mode”, and each treatment pattern is schematically represented. This is the state diagram from (1) to (6).
[0018]
For example, in treatment pattern A: “3 joints 2 (hip joint)”, the lower limb state at the time of (1) start (at the end) is a preset knee / hip angle, knee / hip angular velocity, foot angle, foot angular velocity. (2) The knee and crotch are bent and the dorsiflexion of the foot is performed. At this time, the operation is paused for a preset time while maintaining the knee / hip flexion and dorsiflexion. Thereafter, (3) the knee and the crotch are extended and the plantar flexion is performed at the preset knee and crotch angle, knee and crotch angular velocity, foot angle, and foot angular velocity. At this time, the operation is paused for a preset time while maintaining the knee / hip extension and plantar flexion as in (2). As described above, treatment pattern A: “3 joints 2 (hip joint)”
(1) → (2) → (3) → (Repeat (2) → (3)) → (1) (or (3) is acceptable)
Operation pattern.
[0019]
In the treatment pattern B: “SLR (Hamst)”, the lower limb state at the time of (6) start (at the end), and the pre-set crotch angle, crotch angle speed, foot angle, foot angle speed, and (4) knee The crotch is flexed and the dorsiflexion is performed in the extended position. At that time, the operation is paused for a preset time while maintaining the hip flexion and dorsiflexion. Thereafter, at the previously set crotch angle, crotch angle speed, foot angle, and foot angle speed, (5) the crotch is extended and the plantar flexion is performed while the knee is in the extended position. At this time, the operation is paused for a preset time while maintaining the knee / hip extension and plantar flexion as in (4). As described above, treatment pattern B: “SLR (Hamst)”
(6) → (4) → (5) → (Repeat (4) → (5)) → (6) (or (4) is acceptable)
Operation pattern.
The “blend mode” in which the above-described treatment patterns A and B are combined is a series of treatment operation patterns 1 to 8 as described in FIG.
[0020]
1. The state in which the lower limbs, which are the first states of the treatment patterns A and B, are attached to the apparatus starts from (1) and (6).
2. The knee and crotch and leg dorsiflexion motions are performed at the preset knee and crotch angle, knee and crotch angle speed, foot angle, and foot angle speed, which are the operations of (2). At this time, the operation is paused for a preset time while maintaining the knee / hip flexion and leg dorsiflexion (the posture of the lower limb indicated by the solid line in FIG. 6).
3. The knee and crotch are extended and the plantar flexion is performed at the preset knee and crotch angle, knee and crotch angle speed, foot angle and foot angle speed, which are the operations of (3). At this time, the operation is paused for a preset time while maintaining the knee / hip extension and plantar flexion state (the posture of the lower limb indicated by the solid line in FIG. 6).
4. The operations of (2) and (3) are repeatedly executed a preset number of times (n cycles).
5. With the preset crotch angle, crotch angular velocity, foot angle, and foot angular velocity, which is the operation of (4), the crotch is bent and the dorsiflexion is performed while the knee is in the extended position. At that time, the operation is paused for a preset time while maintaining the hip flexion and the dorsiflexion of the legs (the posture of the lower limb in the solid line in FIG. 6).
6. At the preset crotch angle, crotch angular velocity, foot angle, and foot angular velocity, which is the operation (5), the crotch is extended and the plantar flexion is performed while the knee is in the extended position. At this time, the operation is paused for a preset time while maintaining the knee / hip extension and plantar flexion state (the posture of the lower limb indicated by the solid line in FIG. 6).
7. The operations (4) and (5) are repeatedly executed a predetermined number of times (m cycles).
8. 3. The preset number of times p, 4. And 7. And terminate the operation.
The treatment operation pattern as described above is the “blend mode”.
[0021]
Experiments have shown that treatment in such a “blend mode” significantly increases the blood flow of the patient's lower limbs as compared to other treatment patterns. The blood flow rate is a measurement of the blood flow velocity in the external iliac vein of the patient. In addition, the blood flow volume at the toes (specifically, measured by the amount of hemoglobin) and the change in skin temperature were measured at the same time, and evaluation experiments for various treatment patterns were performed.
Also, in the “blend mode”, when the above-mentioned n: m, which is the cycle ratio between the treatment patterns A and B, is 3: 1, the blood flow to the lower limb of the patient significantly increases, and Evaluation experiments also confirmed that the skin temperature at the toes could be relatively suppressed. However, even when the above-mentioned n: m is 1: 1, 2: 1, 4: 1, 5: 1, and 6: 1, the blood flow of the lower leg of the patient is also increased. Has been confirmed.
[0022]
Therefore, according to the third aspect of the present invention, the treatment pattern A: “3 joints 2 (hip joint)” and the treatment pattern B: “SLR (hamst)” are alternately repeated in each of the preset execution cycles. It was confirmed in the evaluation experiment that the essential effect was that blood flow to the lower limb of the patient was significantly increased, and that the skin temperature at the toes of the patient was relatively suppressed from decreasing.
【The invention's effect】
According to the limb driving device according to claim 1, a lower limb rehabilitation treatment pattern as performed by a technique is realized, an efficient and appropriate load can be applied to the patient, and the gastrocnemius muscle can be stretched. Become.
According to the limb driving device according to claim 2, a lower limb rehabilitation treatment pattern as performed by a technique is realized, an efficient and appropriate load can be applied to the patient, and the gastrocnemius muscle can be stretched. Further, an appropriate rehabilitation treatment pattern suitable for the patient's lower limb condition can be easily selected and executed.
According to the control method of the limb driving device according to the third aspect, it is possible to realize a lower limb rehabilitation treatment pattern as performed by a procedure, efficiently and appropriately apply a load to the patient, and stretch the gastrocnemius muscle. Becomes possible. In addition, an increase in blood flow in the lower limbs of the patient can be expected.
According to the fourth aspect, a lower limb rehabilitation treatment pattern as performed by a procedure is realized, an efficient and appropriate load can be applied to a patient, and stretching of the gastrocnemius muscle becomes possible. Further, a further increase in blood flow in the lower limbs of the patient can be expected.
[Brief description of the drawings]
FIG. 1 is a view showing a limb driving device according to an embodiment of the present invention, wherein (a) is a conceptual diagram and (b) is a perspective view showing one embodiment.
FIG. 2 is a diagram showing a processing flow diagram in a limb drive control method according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating a processing flow regarding a trajectory information generation process in a trajectory generation unit, which is the limb drive control method according to the embodiment of the present invention.
FIG. 4 is a diagram illustrating a processing flow relating to an operation command processing for each axis of the arm and an axis of the ankle joint in the operation control unit, which is the limb drive control method according to the embodiment of the present invention.
FIG. 5 is a diagram showing two types of treatment patterns performed by the limb driving device according to the embodiment of the present invention.
FIG. 6 is a diagram illustrating a treatment pattern performed by combining two types of treatment patterns performed by the limb driving device according to the embodiment of the present invention.
FIG. 7 is a diagram showing three types of treatment patterns performed by a conventional limb driving device.
[Explanation of symbols]
REFERENCE SIGNS LIST 100 limb driving device 101 limb 10 limb driving section 11 limb mounting section 12 ankle joint axis 13 arm section 14 driving section 15 motion control section 16 trajectory generation section 17 condition input section 20 pedestal section 30 moving means 40 fixing means 50 elevating means 60 limbs Drive mechanism 70 Limb drive controller 71 Operation unit

Claims (4)

A control method of a limb driving device that includes an arm having at least two degrees of freedom and an ankle joint axis provided at a tip of the arm to operate an ankle joint of a limb, and that drives the limb,
Select the left or right leg of the limb to be driven,
Select the treatment pattern of flexion and extension of the hips and knees of the limb and dorsiflexion and plantar flexion of the ankle joint of the limb,
Inputting at least one condition of the angle of the ankle joint axis or the torque of the ankle joint axis;
Generate trajectory information for driving the limb according to the treatment pattern and the condition,
Generating ankle information for driving the arm and the ankle axis from the trajectory information,
A method of controlling a limb driving device, wherein the limb is driven based on the ankle joint information. The limb driving device according to claim 1, wherein the treatment pattern is a pattern that selectively executes a pattern that controls an angle of the ankle joint axis and a pattern that controls a torque of the ankle joint axis. Control method. A control method of a limb driving device that includes an arm having at least two degrees of freedom and an ankle joint axis provided at a tip of the arm to operate an ankle joint of a limb, and that drives the limb,
Select the left or right leg of the limb to be driven,
The treatment pattern A for flexion and extension of the hips and knees of the limb and dorsiflexion and plantar flexion of the ankle joints of the limb, and while maintaining the knee of the limb in the extension position, flexion and extension of the hips of the limb and foot A treatment pattern B for dorsiflexion and plantarflexion of a joint, and a predetermined execution cycle of the treatment pattern A and the treatment pattern B are n and m, respectively, and an angle of the ankle joint axis or a torque of the ankle joint axis. Enter at least one condition,
Generating trajectory information for driving the limb according to the treatment pattern A and the treatment pattern B and the condition,
Generating ankle information for driving the arm and the ankle axis from the trajectory information,
Executing the treatment pattern A for the n cycles based on the ankle joint information;
Executing the treatment pattern B for the m cycles;
A method for controlling a limb driving device, wherein the treatment pattern A and the treatment pattern B are repeatedly executed a preset number of times. 4. The control method for a limb driving device according to claim 3, wherein the ratio of n and m in each of the execution cycles is n: m = 3: 1.

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