| 摘要 |
PROBLEM TO BE SOLVED: To appropriately correct an attitude angle of a saddle link in a walking assist device for assisting walking.SOLUTION: A walking assist device relating to the invention also comprises a control unit that executes assist processing of, when one leg is in an idling state and the other leg is in a grounding state, applying an assist force to an actuator on an idling-state leg side and applying an assist force having a phase opposite to that of the assist force to be applied to the actuator on the idling-state leg side to an actuator on a standing-state leg side, on the basis of determination by an idling leg determination unit. |
