Patent ID: 7857774
Filing Date: 2010-12-28
Classification: A61B,A61H,A63B,B25J

Abstract:
1. A wearable action-assist device comprising: a biosignal detection unit detecting a biosignal from a wearer; an action-assist wearing tool having a drive source supplying a torque acting on the wearer around each joint of the wearer as an axis of rotation; and a control unit controlling the drive source to generate the torque according to the biosignal detected by the biosignal detection unit, characterized in further comprising: a drive torque estimation unit estimating a drive torque generated by the drive source; a joint angle detecting unit detecting an angular displacement of the joint; and a parameter identification unit identifying kinetics parameters concerned by substituting the estimated drive torque estimated by the drive torque estimation unit and the angular displacement detected by the joint angle detecting unit into an equation of motion of an entire system including kinetics parameters intrinsic to the wearer, wherein the control unit is configured to control the drive source according to a predetermined control method based on the equation of motion into which the biosignal detected by the biosignal detection unit and the kinetics parameters identified by the parameter identification unit are substituted.