| 摘要 |
PURPOSE: A walking assistance apparatus and an operation control method are provided to provide a plan capable of detecting posture changes of a lower-body wearable type walking assistance unit and a wheel type walking assistance unit. CONSTITUTION: An operation control method of a walking assistance apparatus comprises a step of acquiring at least one among information about action force generated between a user and a wheel type first walking assistance unit, information about a condition of a first walking assistance unit, and information about surface repulsive force sensed in a lower-body wearable type second walking assistance unit(S610); a step of determining the fall possibility based on the acquired information(S620); and a step of controlling the operation of at least one among the first walking assistance unit, the second walking assistance unit, and the control unit based on the determination(S630). The information acquiring step comprises at least one step among a step of sensing the action force acting between user and a sensor of the first walking assistance unit; a step of sensing the inclination of the sensor; and a step of sensing the angular velocity of the sensor. [Reference numerals] (110) First detection part; (120) Second control part; (130) First operating part; (140) First transmitter-receiver part; (210) Second detection part; (220) Second control part; (230) Second operating part; (240) Second transmitter-receiver part; (300) Control unit; (310) Control part; (AA) First information; (BB) Second information; (S610) Step of acquiring at least one among information about action force generated between a user and a wheel type first walking assistance unit, information about a condition of a first walking assistance unit, and information about surface repulsive force sensed in a lower-body wearable type second walking assistance unit; (S620) Step of determining the fall possibility based on the acquired information; (S630) Step of controlling the operation of at least one among the first walking assistance unit, the second walking assistance unit, and the control unit based on the determination
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