[Problem to be Solved]
The problem to be solved by the present invention is to reduce the load
applied to the wearer by correcting a parameter in correspondence with
detectivity of biosignals.
[Means to Solve Problem]
The calibration controlling part 162 of the movement assisting apparatus
10 enables the power amplifying part 158 to apply a driving force of the
driving source 140 as a load (input torque) from the load generating part
164 to the wearer 12 when the wearer 12 wears the movement assisting
wearing device. Then, the wearer 12 applied with the driving force of the
driving source 140 generates power from the skeletal muscles by
performing a predetermined calibration operation. Accordingly, the
physical phenomenon detecting part 142 detects joint angle along with the
calibration operation, and the biosignal detecting part 144 detects
myoelectric signals. In the parameter correction part 156, a parameter K
is corrected based on the difference between the load (input torque) and
the driving force (muscular strength) being calculated by the difference
deriving part 154 with respect to the phase identified by the phase
identifying part 152.