| 摘要 |
PROBLEM TO BE SOLVED: To provide a device capable of assisting walking movement while stabilizing the movement of a posture of a wearer by taking account of linkage of respective movement states of a pair of left/right leg bodies of the wearer.SOLUTION: When a control device 14 applies assist force in an extension direction of one leg body in a standing state and applies assist force in a bending direction of the other leg body in an idling state, a walking movement assist device 10 adjusts respective lengths of a first specified period t=t0-t1 where one assist force is stronger than the other assist force, and a second specified period t=t1-t2 that continues from the first specified period and where the other assist force is stronger than the one assist force. |
