Wearing type behavior help device, wearing type behavior help device calibration device, and calibration program

A calibration apparatus of a wearable type movement-assisting apparatus for performing a calibration whenever a wearer wears a movement-assisting wearing device including a driving source generating an assisting power corresponding to biosignals from the wearer by associating the biosignals and the assisting power to a predetermined relationship, the biosignals being potentials generated by the wearer, the assisting power generated by the driving source being controlled based on a parameter, the calibration apparatus comprising:

• a first storage part for storing a first corresponding relationship between a first power generated by the wearer and a first biosignal generated by the wearer in response to a driving force applied by the driving source when the wearer wears the movement-assisting wearing device;
• and
• a second storage part for storing a second corresponding relationship between a second power generated by the wearer and a second biosignal generated by the wearer during a process of performing a predetermined basic movement;
• wherein based on the second biosignal generated during the basic movement of the wearer and the second corresponding relationship, a correction of the parameter is performed for satisfying the first corresponding relationship whenever the movement-assisting wearing device is worn by the wearer,
• wherein the calibration includes a default calibration to initially set the parameter and a reconfiguration calibration to correct and update the parameter set by the default calibration,
• wherein the default calibration is performed when the wearable type movement assisting apparatus is worn for the first time by the wearer,
• wherein the reconfiguration calibration is performed each time the wearable type movement assisting apparatus is worn after the default calibration,
• wherein the default calibration includes a motionless state calibration in which the wearer generates muscular strength in a motionless state, and
• wherein the reconfiguration calibration is executed as a one motion calibration in which the wearer moves a joint from a bent state to an extending state.

A nontransitory computer readable storage device that stores a program which, when executed by a computer, causes the computer to execute a calibration method for performing a calibration whenever a wearer wears a movement-assisting wearing device including a driving source generating an assisting power corresponding to biosignals from the wearer by associating the biosignals and the assisting power to a predetermined relationship, the biosignals being potentials generated by the wearer, the assisting power generated by the driving source being controlled based on a parameter, the method comprising:

• storing in a first storage part a first corresponding relationship between a first power generated by the wearer and a first biosignal generated by the wearer in response to a driving force applied by the driving source when the wearer wears the movement-assisting wearing device and storing in a second storage part a second corresponding relationship between a second power generated by the wearer and a second biosignal generated by the wearer during a process of performing a predetermined basic movement;
• and
• performing correction of the parameter based on the second biosignal generated during the basic movement of the wearer and the second corresponding relationship stored in the second storage part when the movement-assisting wearing device is worn by the wearer for satisfying the first corresponding relationship stored in the first storage part,
• wherein the calibration includes a default calibration to initially set the parameter and a reconfiguration calibration to correct and update the parameter set by the default calibration,
• wherein the default calibration is performed when the movement-assisting wearing device is worn for the first time by the wearer,
• wherein the reconfiguration calibration is performed each time the movement-assisting wearing device is worn after the default calibration,
• wherein the default calibration includes a motionless state calibration in which the wearer generates muscular strength in a motionless state, and
• wherein the reconfiguration calibration is executed as a one motion calibration in which the wearer moves a joint from a bent state to an extending state.