A wearable action-assist device which assists or executes an action of a wearer by substituting for the wearer is provided with an action-assist tool 2 having an actuator 201 which gives power to the wearer 1, a biosignal sensor 221 which detects a wearer’s biosignal, a biosignal processing unit 3 which acquires from a biosignal «a» detected by the biosignal sensor a nerve transfer signal «b» for operating a wearer’s muscular line skeletal system, and a myoelectricity signal «c» accompanied with a wearer’s muscular line activity, an optional control unit 4 which generates a command signal «d» for causing the actuator 201 to generate power according to the wearer’s intention using the nerve transfer signal «b» and the myoelectricity signal «c» acquired by the biosignal processing unit 3, and a driving current generating unit 5 which generates a current according to the nerve transfer signal b and a current according to the myoelectricity signal «c», respectively, based on the command signal «d» generated by the optional control unit 4, and supplies the currents to the actuator 201.

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An exoskeleton ( 100) configured to be coupled to a person (187) includes an exoskeleton trunk (109) and leg supports (101, 102) adapted to contact the ground. Hip torque generators ( 145, 146) extend between the exoskeleton trunk (109) and respective leg supports (101, 102). A load holding mechanism (221 ) is rotatably coupled to the exoskeleton trunk (109), preferably via over-shoulder members (138) configured to support a load (154) in front of the person (187). In use, hip torque generators (145, 146) create torque between the exoskeleton trunk (109) and respective leg supports (101, 102) in the stance phase, wherein at least one torque generator (145 or 146) is configured to create a first torque between the exoskeleton trunk (109) and one of the first and second leg supports (101, 102) in the stance phase opposing a second torque generated on the exoskeleton ( 100) by a weight of the load (154). Load bearing sensors (236, 303) may be utilized to determine the torque generated by the load (154) and communicate with a controller (137) to control power to the torque generators (145, 146).

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An exoskeleton ( 100) configured to be coupled to a person (187) includes an exoskeleton trunk (109) and leg supports (101, 102) adapted to contact the ground. Hip torque generators ( 145, 146) extend between the exoskeleton trunk (109) and respective leg supports (101, 102). A load holding mechanism (221 ) is rotatably coupled to the exoskeleton trunk (109), preferably via over-shoulder members (138) configured to support a load (154) in front of the person (187). In use, hip torque generators (145, 146) create torque between the exoskeleton trunk (109) and respective leg supports (101, 102) in the stance phase, wherein at least one torque generator (145 or 146) is configured to create a first torque between the exoskeleton trunk (109) and one of the first and second leg supports (101, 102) in the stance phase opposing a second torque generated on the exoskeleton ( 100) by a weight of the load (154). Load bearing sensors (236, 303) may be utilized to determine the torque generated by the load (154) and communicate with a controller (137) to control power to the torque generators (145, 146).

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[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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Load measuring parts 50 and 52 are provided with reaction sensors 50a, 50b, 52a and 52b to measure loads at two positions, the tiptoe and the heel, on each sole of right and left feet of a wearing person 12. The reaction sensor 50a detects a reaction force to a load on a front side of the right foot (right tiptoe), the reaction sensor 50b detects a reaction force to a load on a rear side of the right foot (right heel), the reaction sensor 52a detects a reaction force to a load on a front side of the left foot (left tiptoe), and the reaction sensor 52b detects a reaction force to a load on a rear side of the left foot (left heel). The reaction sensors 50a, 50b, 52a and 52b are arranged to detect, based on a change of a capacitance, the loads on the right and left feet during a walk action. A change of the load accompanied with a shift of the weight and a contact between the wearing person’s foot and the ground can be detected.

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