Patent ID: 8888722

Claim:
A wearable action-assisting device comprising: an action-assist wearing tool having a first arm and a second arm and adapted to be attached to a wearing person, and having a joint at which the first arm and the second arm are operationally coupled, the first and second arms moving around the joint to define flexion and extension directions such that a rotation angle between the first and second arms around the joint is defined; at least one set of fixtures adapted to removably attach the first arm and the second arm to a corresponding limb of the wearing person such that the joint is proximate to a joint of the wearing person; a biosignal sensor adapted to detect a biosignal from the wearing person; a biosignal processing unit adapted to amplify the biosignal detected by the biosignal sensor, and acquire a nerve transfer signal and a myoelectricity signal from the amplified biosignal; an actuator in communication with the biosignal sensor, the actuator mounted to the action-assist wearing tool, and coupled to the first and second arms of the action-assist wearing tool so as to apply a force for driving the first and second arms around the joint, the actuator being arranged to generate a driving torque based on the biosignal from the biosignal sensor; a control unit coupled to the actuator to control operation of the actuator; and a driving current generating unit configured to receive a command signal from the control unit, generate, in response to the command signal a first current according to the nerve transfer signal from the biosignal processing unit and a second current according to the myoelectricity signal from the biosignal processing unit and supply the first and second currents to a motor of the actuator, wherein the driving current generating unit is further configured to amplify the first current to be larger than a lower limit drive start current of the actuator when the first current is less than the lower limit drive start current.