| 摘要 |
PROBLEM TO BE SOLVED: To provide a motion-assist device for autonomously and safely assisting rehabilitation training or the like of a patient, according to the intention of the patient without giving discomfort.SOLUTION: When the motion of the patient is assisted during walking on a walking surface, the motion-assist device includes: a drive unit 10 mounted on the knee joint part of a leg of the patient 60, and assisting the bending motion of the knee joint part accompanied with walking; a sole sensor 17 for detecting that the heel of the leg with the drive unit 10 mounted thereon is separated from the walking surface; and a CPU 42 for controlling the drive unit 10 so as to start bending motion when a bending angle of the knee joint part becomes a first threshold angle &thetas;after the heel separates from the walking surface. |
