Wearing Type Behavior Help Device, Wearing Type Behavior Help Device Calibration Device, and Calibration Program
First Claim
1. A wearable type movement assisting apparatus including a detecting part for detecting a biosignal from a wearer, a movement assisting wearing device including a driving source for applying a driving force to the wearer, and a control part for controlling the driving source to generate an assisting force according to a detection signal detected by the detecting part, the wearable type movement assisting apparatus characterized by comprising:
- a calibration part for detecting the biosignal corresponding to the driving force applied as a load from the driving source and setting a correction value based on the detected signal.
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Accused Products
Abstract
[Problem to be Solved]
The problem to be solved by the present invention is to reduce the load applied to the wearer by correcting a parameter in correspondence with detectivity of biosignals.
[Means to Solve Problem]
The calibration controlling part 162 of the movement assisting apparatus 10 enables the power amplifying part 158 to apply a driving force of the driving source 140 as a load (input torque) from the load generating part 164 to the wearer 12 when the wearer 12 wears the movement assisting wearing device. Then, the wearer 12 applied with the driving force of the driving source 140 generates power from the skeletal muscles by performing a predetermined calibration operation. Accordingly, the physical phenomenon detecting part 142 detects joint angle along with the calibration operation, and the biosignal detecting part 144 detects myoelectric signals. In the parameter correction part 156, a parameter K is corrected based on the difference between the load (input torque) and the driving force (muscular strength) being calculated by the difference deriving part 154 with respect to the phase identified by the phase identifying part 152.
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Citations
11 Claims
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1. A wearable type movement assisting apparatus including a detecting part for detecting a biosignal from a wearer, a movement assisting wearing device including a driving source for applying a driving force to the wearer, and a control part for controlling the driving source to generate an assisting force according to a detection signal detected by the detecting part, the wearable type movement assisting apparatus characterized by comprising:
a calibration part for detecting the biosignal corresponding to the driving force applied as a load from the driving source and setting a correction value based on the detected signal. - View Dependent Claims (4, 5, 6, 7, 8)
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2. A wearable type movement assisting apparatus including a detecting part for detecting a biosignal from a wearer, a movement assisting wearing device including a driving source for applying a driving force to the wearer, and a control part for controlling the driving source to generate an assisting force according to a detection signal detected by the detecting part, the wearable type movement assisting apparatus characterized by comprising:
a load generating part for applying a predetermined driving force from the driving source as an external force when the movement assisting wearing device is worn by the wearer; and
a correction value setting part for generating a parameter for a calculation process executed in accordance with the detection signal by the control part and setting 5 the parameter as a correction value for the wearer.- View Dependent Claims (3)
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9. A calibration apparatus of a wearable type movement assisting apparatus for performing calibration whenever a wearer wears a movement assisting wearing device including a driving source generating an assisting power corresponding to biosignals from the wearer by associating the biosignals and the assisting power to a predetermined relationship, the apparatus characterized by comprising:
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a first storage part for storing a first corresponding relationship between the power and the biosignals generated by the wearer wearing the movement assisting wearing device; and a second storage part for storing a second corresponding relationship between the power and the biosignals generated by the wearer during a process of performing a predetermined basic movement; wherein based on the biosignals generated during the basic movement of the wearer and the second corresponding relationship, a correction of assisting power corresponding to the biosignals is performed for satisfying the first corresponding relationship whenever I the movement assisting wearing device is worn by the wearer. - View Dependent Claims (10)
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11. A program for calibration of a wearing type movement assisting apparatus enabling a computer to execute calibration whenever a wearer wears a movement assisting wearing device including a driving source generating an assisting power corresponding to biosignals from the wearer by associating the biosignals and the assisting power to a predetermined relationship, the program characterized by comprising:
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a first program for enabling the computer to store a first corresponding relationship between the power and the biosignals generated by the wearer wearing the movement assisting wearing device and store a second corresponding relationship between the power and the biosignals generated by the wearer during a process of performing a predetermined basic movement; and a second program for enabling the computer to perform correction of assisting power corresponding to biosignals based on the biosignals generated during the basic movement of the wearer and the second corresponding relationship stored in the second storage part when the movement assisting wearing device is worn by the wearer for satisfying the first corresponding relationship stored in the first storage part.
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Specification