A wearable action-assist device includes a biosignal detection unit detecting a biosignal from a wearer, an action-assist wearing tool having a drive source supplying a torque acting on the wearer around each joint of the wearer as an axis of rotation, a control unit controlling the drive source to generate the torque according to the detected biosignal, a drive torque estimation unit estimating a drive torque generated by the drive source, a joint-angle detecting unit detecting an angular displacement of the joint, and a parameter identification unit identifying kinetics parameters concerned by substituting the estimated drive torque and the detected angular displacement into an equation of motion of an entire system including kinetics parameters intrinsic to the wearer. The control unit is configured to control the drive source according to a predetermined control method based on the equation of motion into which the identified parameters are substituted.

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В данной статье представлен краткий обзор современных моделей экзоскелетов и тенденций в их развитии.

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To suppress human tremor, researchers in this field devote themselves to develop a wearable tremor-suppression orthosis, but one of the most important difficulties lies in how to obtain real-time filtering and estimation of the tremor from the input signal. In this article, Fourier Linear Combiner(FLC) and a series of derived algorithms are analyzed first, then an improved algorithm–Shifted Band-limited Multiple Fourier Linear Combiner(SBMFLC) is proposed. Simulation results make it clear that the improved algorithm is more adaptive and accurate to the tremor suppression.

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