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Wearing type behavior help device, wearing type behavior help device calibration device, and calibration program

  • US 9,539,162 B2
  • Filed: 02/02/2005
  • Issued: 01/10/2017
  • Est. Priority Date: 03/11/2004
  • Status: Active Grant
First Claim
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1. A wearable type movement-assisting apparatus comprising:

  • a detecting part for detecting a biosignal from a wearer, the biosignal being a potential generated by the wearer,a movement assisting wearing device including a driving source for applying a driving force to the wearer,a control part for controlling the driving source to generate an assisting force based on a parameter, so that the assisting force is applied to the wearer in correspondence with the biosignal detected by the detecting part,a parameter correcting part for estimating a virtual torque of the wearer according to the biosignal and correcting the parameter based on a relationship between the biosignal and the virtual torque as a unique parameter of the wearer,a calibration part for performing a default calibration to initially set the parameter and a reconfiguration calibration to update the parameter corrected by the parameter correcting part according to the biosignal that is generated in response to the driving force applied from the driving source,wherein the calibration part is configured to perform the default calibration when the wearable type movement assisting apparatus is worn for the first time by the wearer,wherein the calibration part is configured to perform the reconfiguration calibration each time the wearable type movement assisting apparatus is worn after the default calibration,wherein the default calibration includes a motionless state calibration in which the wearer generates muscular strength in a motionless state, andwherein the reconfiguration calibration is executed as a one motion calibration in which the wearer moves a joint from a bent state to an extending state.

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