[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.

Категория: Патенты | Нет комментариев »

The design and development of a high-performance robotic device is a process with numerous competing factors. The mechanism weight and stiffness exist at opposite ends of the spectrum, the goal being to achieve the highest structural rigidity while maintaining the lowest segmental inertias. Contributing to these underlying requirements are factors such as the operational workspace, desired joint torques, motor placement, link design and cable selection. Since the device will operate in direct contact with humans, additional requirements emerge regarding comfort and safety of operation.

(далее…)

Категория: Научные статьи | Нет комментариев »