A system and method are presented to provide assist to a user by means of an exoskeleton with a controller capable of making the exoskeleton display active impedance. The exoskeleton assists the user by reducing the muscle effort required by the user to move his or her extremities. In one embodiment, a single-degree-of-freedom (1-DOF) exoskeleton assists a user with single-joint movement using an active impedance controller. In another embodiment, a multiple-degree-of-freedom (multi-DOF) exoskeleton assists a user with multiple-joint movement using an active impedance controller.

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Motion Analysis is used to classify or rate human capability in a physical domain via a minimized movement and data collection protocol producing a discreet, overall figure of merit of the selected physical capability. The minimal protocol is determined by data mining of a more extensive movement and data collection. Protocols are relevant in medical, sports and occupational applications. Kinematic, kinetic, body type, Electromyography (EMG), Ground Reactive Force (GRF), demographic, and psychological data are encompassed. Resulting protocols are capable of transforming raw data representing specific human motions into an objective rating of a skill or capability related to those motions.

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A rehabilitation supporting device 1 includes a first frame 11 arranged along a first skeletal portion extending from a joint, a second frame 12 arranged along a second skeletal portion extending from the joint in a direction different from a direction of the first skeletal portion, an angle sensor 131 arranged to detect a rotational angle position between the first frame and the second frame, a flexion-side biosignal sensor 14 arranged to detect a biosignal of a flexor, an extension-side biosignal sensor 15 arranged to detect a biosignal of an extensor, a calibration unit 31 arranged to determine a flexion-side correction value and an extension-side correction value individually, and a memory unit 34 arranged to store individual correction values of the biosignals different for individuals, the flexion-side correction value, and the extension-side correction value.

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In the present invention, the motion state of the wearable motion-assist device 10-1 of the doctor 1 is sent to the wearable motion-assist device 10-2 of the patient 2 via a network. Then, this motion state is applied to the wearable motion-assist device 10-2 of the patient 2, so that rehabilitation is conducted for the patient 2. Furthermore, the motion state of the wearable motion-assist device 10-2 of the patient 2 is sent from the wearable motion-assist device 10-2 to the wearable motion-assist device 10-1. Then, the motion state of the wearable motion-assist device 10-2 is applied to the wearable motion-assist device 10-1. Accordingly, the doctor 1 can objectively sense the state of the patient 2.

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In the present invention, the motion state of the wearable motion-assist device 10-1 of the doctor 1 is sent to the wearable motion-assist device 10-2 of the patient 2 via a network. Then, this motion state is applied to the wearable motion-assist device 10-2 of the patient 2, so that rehabilitation is conducted for the patient 2. Furthermore, the motion state of the wearable motion-assist device 10-2 of the patient 2 is sent from the wearable motion-assist device 10-2 to the wearable motion-assist device 10-1. Then, the motion state of the wearable motion-assist device 10-2 is applied to the wearable motion-assist device 10-1. Accordingly, the doctor 1 can objectively sense the state of the patient 2.

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