Wearable action-assist device and control program

A method of providing rehabilitation training to a wearing person experiencing compromised functionality in moving a limb around a joint, the method comprising:

• using a wearable action-assisting device which is controlled based on a myoelectricity signal from the wearing person when the person moves the limb around the joint;
• and
• in the course of using the wearable action-assisting device, having the wearing person perform a series of physical tasks requiring at least one of motion of the limb around the joint or locking of the limb in a fixed position relative to the joint,
• wherein the wearable action-assisting device includes:
• a control unit;
• an action-assist wearing tool having a first frame and a second frame adapted to be attached to the wearing person, and having the joint at which the first and second frames are coupled;
• a joint angle sensor to detect a rotation angle between the first and second frames around the joint;
• a myoelectricity sensor;
• and
• a drive source in communication with the myoelectricity sensor, the drive source mounted on the action-assist wearing tool and coupled to the first and second frames to apply a force for driving the first and second frames around the joint, and
• the method further comprises:
• receiving by the control unit the myoelectricity signal from the myoelectricity sensor to output a control signal to a motor of the drive source;
• determining by the control unit whether a difference between a reference parameter signal corresponding to the rotation angle detected by the joint angle sensor and the myoelectricity signal from the myoelectricity sensor is less than a predetermined threshold;
• and
• decreasing a gain of the motor when the difference is determined as exceeding the predetermined threshold, so as to limit a range of motion of the first and second frames around the joint.