Drive control method wearable action-assist device, reference parameter database construction equipment, in the wearable action-assist device, reference parameter database construction method, and the program

摘要

PROBLEM TO BE SOLVED: To smoothly and optimally perform a series of motion desired by a wearer.;SOLUTION: A wearable motion supporting apparatus supporting the motion of a wearer or acting the motion for the wearer by an motion support mounting tool, includes: a first detecting means for detecting a joint angle corresponding to the motion of the wearer; a second detecting means for detecting a biological signal generated by the muscular activity of the wearer; a storage means stored with a reference parameter composed of a phase group where phase data set by associating the joint angle of the wearer with the biological signal are classified by each phase kind; a phase determining means for determining the phase of the motion of the wearer by comparing the joint angle detected by the first detecting means with the joint angle of the reference parameter; a phase data selecting means for selecting the prescribed phase data from the phase group to which the above phase belongs; and a control means for generating a command signal which allows a driving source to generate power corresponding to the selected phase data.;COPYRIGHT: (C)2010,JPO&INPIT