Patent ID: 9427373
Filing Date: 2016-08-30
CPC Classification: A61B,A61H,A63B,B25J

Claim Text:
1. A method of providing rehabilitation training to a wearing person experiencing compromised functionality in moving a limb around a joint, the method comprising: using a wearable action-assisting device which is controlled based on a myoelectricity signal from the wearing person when the person moves the limb around the joint; and in the course of using the wearable action-assisting device, having the wearing person perform a series of physical tasks requiring at least one of motion of the limb around the joint or locking of the limb in a fixed position relative to the joint, wherein the wearable action-assisting device includes: a control unit; an action-assist wearing tool having a first frame and a second frame adapted to be attached to the wearing person, and having the joint at which the first and second frames are coupled; a joint angle sensor to detect a rotation angle between the first and second frames around the joint; a myoelectricity sensor; and a drive source in communication with the myoelectricity sensor, the drive source mounted on the action-assist wearing tool and coupled to the first and second frames to apply a force for driving the first and second frames around the joint, and the method further comprises: receiving by the control unit the myoelectricity signal from the myoelectricity sensor to output a control signal to a motor of the drive source; determining by the control unit whether a difference between a reference parameter signal corresponding to the rotation angle detected by the joint angle sensor and the myoelectricity signal from the myoelectricity sensor is less than a predetermined threshold; and decreasing a gain of the motor when the difference is determined as exceeding the predetermined threshold, so as to limit a range of motion of the first and second frames around the joint.