| 摘要 |
PROBLEM TO BE SOLVED: To provide a walking assist device in which a force in a direction not intended by a user is hardly applied to the user, regardless of a deviation of a bending/stretching state of each leg body.SOLUTION: A walking assist device makes greater, deviations of assisting forces Fr, Fl that act on a user P from each of leg link sections 2 as a deviation of a value of a bending/stretching state variable that indicates each of a pair of right and left leg bodies of the user P is greater. |
