Assist device
An assist device includes a first harness, a second harness, a belt body, an actuator and a controller. The controller is configured to perform operation control of the actuator. The controller is configured to, upon operation of the actuator being started in a state in which the first harness and the second harness is fitted to the user, perform winding of the belt body with a first winding force, and is configured to, upon the winding of the belt body being completed, change the winding force of the actuator to a second winding force that is smaller than the first winding force.
1. An assist device comprising:
a first harness configured to be fitted to at least one of a shoulder region and a breast region of a user;
a second harness configured to be fitted to a leg region or a waist region of the user;
a belt body provided so as to extend to the first harness and to the second harness along a back side of the user;
an actuator provided in a control box on a back side of the first harness and configured to wind and unwind a part of the belt body; and
a controller configured to
when the first harness and the second harness are fitted to the user in a state where the belt body is drawn out, control the actuator to wind the belt body with a first winding force to draw the second harness towards the first harness, and
control the actuator to wind the belt body with a second winding force that is smaller than the first winding force when the winding of the belt body is complete.
2. The assist device according to claim 1 , wherein the second winding force is larger than zero.
3. The assist device according to claim 1 , wherein:
the actuator includes a pulley configured to wind the belt body, and a motor for making the pulley perform an operation of winding the belt body; and
the controller is configured to, based on a parameter relating to rotation of the pulley or the motor, detect completion of the winding of the belt body.
4. The assist device according to claim 1 , wherein:
the actuator includes a pulley configured to wind the belt body, and a motor for making the pulley perform an operation of winding the belt body; and
the controller is configured to change the winding force of the actuator by decreasing a current supplied to the motor.
5. The assist device according to claim 1 , wherein:
the actuator includes a pulley configured to wind the belt body, and a motor for making the pulley perform an operation of winding the belt body; and
the controller is configured to, upon the winding force of the actuator being changed to the second winding force, set a phase of the motor at a time of the change, as an initial value of the phase of the motor.
6. The assist device according to claim 1 , wherein:
the actuator includes a motor, a reducer section including a plurality of gears, the reducer section being configured to reduce rotation of the motor and output the rotation, and a pulley configured to wind the belt body by rotating via the output of the reducer section; and
the actuator is configured in such a manner that, when the belt body is unwound from the pulley, while the motor provides torque in a direction in which the belt body is wound, to the pulley through the reducer section, the pulley rotates in a direction in which the belt body is unwound.
7. The assist device according to claim 1 , wherein the controller is configured to, upon operation of the actuator being started, perform control to change the first winding force to be smaller than that at a start of the winding, in a time period that is later than the start of the winding.
8. The assist device according to claim 1 , wherein the controller is configured to, upon operation of the actuator being started, perform control to change a speed of winding of the belt body to be lower than that at a start of the winding, in a time period that is later than the start of the winding.