| 摘要 |
PROBLEM TO BE SOLVED: To enhance detection accuracy of a floor reaction force vector in a walking assist device for assisting walking.SOLUTION: A walking assist device relating to the invention executes: centroid position estimation processing of detecting a state of the walking assist device, and estimating a centroid position on the basis of the detected state; floor reaction force vector detection processing of, on the basis of the floor reaction force detected by a floor reaction detection unit, detecting a floor reaction force vector which has a line segment connecting a floor reaction force vector generating position set on a sole with the centroid position estimated in the centroid position estimation processing, as a direction; and assist processing of calculating an assist force to be applied to a joint of a leg part, on the basis of the floor reaction force vector calculated in the floor reaction force vector processing, and applying the assist force to an actuator provided at the joint of the leg part. |
