| 摘要 |
<p>A body-worn motion assisting device (1) comprises a shoulder joint mechan ism (5) for assisting the user to move a shoulder joint, an elbow joint mech anism (6) for assisting the user to move an elbow joint, and a control unit (100) having a control circuit for controlling a drive unit (11) of the shou lder joint mechanism (5) and an elbow joint mechanism (6). The control unit (100) controls the drive unit (11) according to the physical quantities and biosignal detected by an angle sensor, a torque sensor, and a biosignal sens or. A control section of the drive unit (11) includes a motor monitoring blo ck for monitoring the operation state of a motor and a motor control block f or limiting the drive signal sent to the motor depending on the results of m onitoring by the motor monitoring block so that the motor does not become un der overload.</p> |
