WALKING ASSISTANCE DEVICE, METHOD FOR CONTROLLING WALKING ASSISTANCE DEVICE, AND PROGRAM FOR CAUSING COMPUTER TO CONTROL WALKING ASSISTANCE DEVICE

摘要

Provided is a walking assistance device with which safety is increased. A walking assistance cart, which is an embodiment of the walking assistance device, is provided with: an acting force-detecting unit (11) for detecting forces acting on a base; a speed-detecting unit (12) for detecting the speed of the walking assistance cart; a progress direction-detecting unit (13) for detecting the direction of progress (for example, forward or backward) of the walking assistance cart; a movement control unit (14) for determining a control method for moving the walking assistance cart and controlling the movement of the walking assistance cart; a driving unit (15) for driving the front wheels and the back wheels; and a safety control unit (16) for controlling the driving of the walking assistance cart on the basis of state of the walking assistance cart and the direction in which the acting force acts on the walking assistance cart.