PROBLEM TO BE SOLVED: To provide an mounting type action assisting device for suppressing a strange feeling to be given to an mounting person as much as possible, and to provide a method for controlling the device, and its program. SOLUTION: The mounting type action assisting device for assisting the action of the mounting person or taking care of it comprises: an action assisting harness 2 having an actuator 201 for giving power to the mounting person 1; a biological signal sensor 221 for detecting the biological signal of the person 1; a biological signal processing means 3 for acquiring nerve transmission signal for moving the musculoskeletal system of the person 1 and a muscular potential signal accompanied with muscular activity, from the biological signal which is detected by the biological signal sensor; a voluntary control means 4 for generating a command signal to generate in the actuator 201 power which follows the intention of the person 1, through the use of the nerve transmission signal and the muscular potential signal acquired by the biological signal processing means 3; and a driving current generating means 5 for generating current corresponding to the nerve transmission signal and current corresponding to the muscular potential signal respectively to supply the same to the actuator 201, based on the command signal generated by the voluntary control means 4.

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An apparatus for assisting in body movement includes a framework which is connectable with a human body and an elastic force transmission system connected with the framework. The elastic force transmission system stores energy during a first portion of movement of the human body and releases the stored energy during a second portion of the movement of the human body. The elastic force transmission system includes an elongated force transmission component which is resiliently extendable under the influence of force transmitted through the framework. Although the apparatus can be used in association with any desired portion of the human body, it may be particularly advantageous to use the apparatus in association with one or both legs of the human body.

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(EN)A wearable action-assist device for assisting the wearer to act or doing an action for the wearer (1) comprises an action-assist wearable tool (2) having an actuator (201) to give the wearer a mechanical force, a biosignal sensor (221) for detecting a biosignal of the wearer (1), a biosignal processing means (3) for obtaining, from the biosignal (a) detected by the biosignal sensor, a neurotransmitting signal (b) to move the musculoskeletal system of the wearer (1) and a muscle potential signal (c) generated when a muscle activity occurs , a voluntary control means (4) for generating, using the obtained neurotransmitting signal (b) and muscle potential signal (c), a command signal (d) to generate a mechanical force reflecting the intention of the wearer (1) in the actuator (201), and a drive current generating means (5) for producing, according to the command signal (d), currents corresponding to the neurotransmission signal (b) and the muscle potential signal (c) respectively and supplying them to the actuator (201).
(FR)Cette invention se rapporte à un dispositif portatif d’assistance aux mouvements, servant à assister dans ces mouvements la personne qui le porte, appelée utilisateur, ou à effectuer un mouvement pour l’utilisateur (1) et comprenant à cet effet un instrument portatif (2) d’assistance aux mouvements, comportant un actuateur (201) destiné à conférer à l’utilisateur une force mécanique, un capteur de biosignal (221) servant à détecter un biosignal de l’utilisateur (1), un processeur de biosignal (3) destiné à obtenir, à partir du biosignal (a) détecté par le capteur de biosignal, un signal neurotransmetteur (b) destiné à déplacer le système musculo-squelettique de l’utilisateur (1) et un signal de potentiel musculaire (c) généré lorsqu’une activité musculaire se produit, un moyen de commande volontaire (4) destiné à produire, en utilisant le signal neurotransmetteur (b) et le signal de potentiel musculaire (c) obtenus, un signal d’instruction (d) destiné à générer une force mécanique reflétant les intentions de l’utilisateur (1) dans l’actuateur (201), et un générateur de courant d’excitation (5) destiné à produire, en fonction du signal d’instruction (d), des courants correspondant au signal neurotransmetteur (b) et au signal de potentiel musculaire (c) respectivement et à appliquer ces signaux à l’actuateur (201).
(JA)　装着者の動作を補助あるいは代行する装着式動作補助装置は、装着者１に対して動力を付与するアクチュエータ201を有した動作補助装着具２と、装着者１の生体信号を検出する生体信号センサ221と、装着者１の筋骨格系を動作させるための神経伝達信号ｂおよび筋活動に伴う筋電位信号ｃを、生体信号センサにより検出された生体信号ａから取得する生体信号処理手段３と、生体信号処理手段３により取得された神経伝達信号ｂおよび筋電位信号ｃを用い、装着者１の意思に従った動力をアクチュエータ201に発生させるための指令信号ｄを生成する随意的制御手段４と、随意的制御手段４により生成された指令信号ｄに基づいて、神経伝達信号ｂに応じた電流および筋電位信号ｃに応じた電流をそれぞれ生成し、アクチュエータ201に供給する駆動電流生成手段５とを備える。

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A method for obtaining an assist torque to be applied to a human joint, in a human assist system in order to reduce load on muscles, according to the present invention comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. In one embodiment of the present invention, various criteria are used such a mechanical energy, metabolic energy and/or a stability/equilibrium factor. In addition, the present invention can account for the situation when there is substantially no relative motion between segments of a given joint and thus, where the mechanical energy component of gravity compensation is approximately zero.

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A portable electronic device configured for single hand use. The portable electronic device includes a housing, a micro-processor, a display and a keypad. The housing includes an operating surface and an upright hand-held operating position. The micro-processor is disposed within the housing and is coupled to the display and the keypad. The display is positioned on the operating surface and the keypad is positioned on the operating surface above the display with the housing in the upright hand-held operating position.

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