Patent ID: 8622938

Claim:
A wearable action-assist device which assists or executes an action of a wearer by substituting for the wearer, comprising: an action-assist tool having an actuator which gives power to the wearer; a biosignal sensor detecting a wearer's biosignal; a physical quantity sensor detecting a physical quantity related to the action of the wearer; an optional control unit generating a command signal for causing the actuator to generate power according to a wearer's intention by using the biosignal detected by the biosignal sensor; a database storing respective standard parameters of a series of minimum action units comprising phases which constitute a wearer's action pattern classified as a task; an autonomous control unit estimating a phase of the wearer's task by comparing the physical quantity detected by the physical quantity sensor with a standard parameter stored in the database, and generating a command signal for causing the actuator to generate power according to the estimated phase; a signal combining unit combining the command signal from the optional control unit and the command signal from the autonomous control unit; and a driving current generating unit generating a total current according to a total command signal from the signal combining unit, to supply the total current to the actuator; wherein a plurality of hybrid ratios of the command signal from the optional control unit and the command signal from the autonomous control unit which have a given correspondence relation with the respective standard parameters of the series of phases are stored in the database, and the signal combining unit combines the command signal from the optional control unit and the command signal from the autonomous control unit so as to meet a hybrid ratio which is determined based on the correspondence relation according to the phase estimated by the autonomous control unit, wherein the hybrid ratio is a ratio of the command signal from the optional control unit and the command signal from the autonomous control unit.