| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a walking assist device preventing a turnover, and allowing a user to sit without feeling a load, and to provide a method for controlling the same. <P>SOLUTION: The walking assist device includes: a first link 2 worn on a thigh of a leg of the user; a second link 3 worn on a lower limb; a drive part 6 for relatively rotationally driving the links; and a control part 92 for controlling the drive part 6. The control part 92 executes friction compensation control for imparting a torque for cancelling a drag force caused by mechanical frictional force generated between the first link 2 and the second link 3, after the detection of a standing-up movement of the user. <P>COPYRIGHT: (C)2013,JPO&INPIT |
