Motion reproducing system and motion reproducing apparatus

A motion reproducing system comprising:

• a data acquiring apparatus acquiring human body motion data representing a human motion of a human patient during the motion, and transmitting the human body motion data;
• a data managing apparatus receiving the human body motion data from the data acquiring apparatus, the data managing apparatus including a memory storing the human body motion data;
• and
• a motion reproducing apparatus receiving the human body motion data stored in the memory from the data managing apparatus, and allowing the patient to reproduce the motion using the human body motion data, the motion being performed at the time of acquisition of the human body motion data,
• wherein the data acquiring apparatus is a first wearable motion assisting apparatus including a first frame and a first drive unit, the first frame being worn along a portion between joints of a body of the patient and rotatably connected to the first drive unit, the first wearable motion assisting apparatus comprising:
• a first biological signal detector detecting a biological signal generated in accordance with a motion of the patient;
• a first angular sensor detecting a rotation angle of a joint corresponding to the motion of the patient;
• a first torque sensor detecting an output torque of the first drive unit;
• a relative force detector detecting a force acting on the first frame, the force being relatively determined by a relationship between the output torque of the first drive unit and a muscle force of the patient;
• a first control unit calculating an assist force to be applied from the first drive unit to the first frame on the basis of the output torque of the first drive unit, the biological signal, the rotation angle, and the force acting on the first frame;
• and
• a first communicating unit transmitting the output torque of the first drive unit, the biological signal, the rotation angle, and the force acting on the first frame as the human body motion data to the data managing apparatus;
• wherein the motion reproducing apparatus is a second wearable motion assisting apparatus including a second frame and a second drive unit, the second frame being worn along a portion between joints of a body of the patient and rotatably connected to the second drive unit, the second wearable motion assisting apparatus comprising:
• a second biological signal detector detecting a biological signal generated in accordance with a motion of the patient;
• a second angular sensor detecting a rotation angle of a joint corresponding to the motion of the patient;
• a second torque sensor detecting an output torque of the second drive unit;
• a second communicating unit receiving the human body motion data from the data managing apparatus;
• and
• a second control unit calculating an assist control output torque on the basis of, of the human body motion data, the output torque of the first drive unit, the biological signal detected by the first biological signal detector, the rotation angle detected by the first angular sensor, and the force acting on the first frame, calculating an angle control output torque for making equal the rotation angle detected by the first angular sensor and the rotation angle detected by the second angular sensor, and calculating an assist force to be applied from the second drive unit to the second frame on the basis of the assist control output torque and the angle control output torque;
• wherein the second control unit calculates a force control output torque for making equal or proportional the output torque of the second drive unit and the output torque of the first drive unit included in the human body motion data, and calculates the assist force to be applied from the second drive unit to the second frame on the basis of the assist control output torque, the angle control output torque, and the force control output torque.