PROBLEM TO BE SOLVED: To provide a device which is robust against differences among individuals and makes it possible to discriminate autokinesis.SOLUTION: An autokinesis discrimination device for discriminating the existence/absence of autokinesis by using a discriminator on the basis of a plurality of brain wave signals showing a plurality of brain waves on a users head, respectively comprises: a front processing unit for performing a time filter for allowing components in predetermined band of the plurality of brain signals to pass through and a spatial filter for extracting a highlight signal on a brain wave signal corresponding to a target part of autokinesis discrimination an AR model estimation unit for calculating, as a feature vector, a coefficient of an AR model and the variance of prediction errors of the highlight signal extracted by the front processing unit a discrimination unit for learning a parameter of the discriminator on the basis of the feature vector calculated using the AR model and a back processing unit which performs smoothing on a binary value lead out as the existence/absence of autokinesis by the discriminator and converts the smoothed value to a continuous value available to control of a rehabilitation support robot.
