PROBLEM TO BE SOLVED: To provide a movement support device which is excellent in wearability, has high detection accuracy of movement intention based on a relatively few detection signals from a sensor, and is easy to match drive control of an actuator with a voluntary feeling of a wearer.SOLUTION: A movement support device comprises: a fixing part/arithmetic processing part 11 for driving an actuator 6 a position detection sensor for detecting a rotation angle position of the actuator 6 and inputting a rotation angle position signal to the fixing part/arithmetic processing part 11 for every predetermined time and angular velocity detection means 7 for inputting an electromotive force signal to the fixing part/arithmetic processing part 11 for every predetermined time. The fixing part/arithmetic processing part 11 estimates a rotation angular acceleration of a joint 1 on the basis of the rotation angle position signal and the electromotive force signal in time series to control the drive of the actuator 6 on the basis of the estimated rotation angular acceleration.COPYRIGHT: (C)2015,JPO&INPIT【課題】装着性が良く、比較的少ないセンサからの検出信号に基づきながらも、運動意図の検出精度が高く、アクチュエータの駆動制御が装着者の随意感に合致しやすい動作支援装置を提供する。【解決手段】アクチュエータ6を駆動する固定部兼演算処理部11と、アクチュエータ6の回転角度位置を検出し、固定部兼演算処理部11に回転角度位置信号を所定時間毎に入力する位置検出センサと、固定部兼演算処理部11に起電力信号を所定時間毎に入力する角速度検出手段7を備え、固定部兼演算処理部11は、時系列の回転角度位置信号及び起電力信号に基づいて関節1の回転角加速度を推定し、推定された回転角加速度に基づいてアクチュエータ6の駆動を制御する動作支援装置。【選択図】図1
