MOTOR LEARNING SUPPORT DEVICE AND MOTOR LEARNING SUPPORT METHOD

摘要

To provide a motor learning support device capable of appropriately supporting attainment of target motion.SOLUTION: A motor learning support device 1000 assists a user to learn motion of a joint on the basis of a principle of assist as needed. An assist robot 300 is worn around a joint part of the user to generate an assist torque to the joint part. A computer 20 controls, on the basis of a myoelectric signal, an actuator of the assist robot 300 by model prediction control such that the joint part moves on a target trajectory by a user torque and the assist torque, the user torque estimated to be generated by user using the own joint at a time point when a prescribe time elapses from the detection.SELECTED DRAWING: Figure 2