| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable walking with a constant load sense regardless of walking conditions. <P>SOLUTION: This walking assistance device sets the maximum value of a joint moment obtained by subtracting the maximum value of a joint moment assisted by the walking assistance device from the maximum value M2 of a joint moment necessary in one walking period in the walking condition that is a reference as a reference joint moment maximum value z, and sets an assist rate β such that the maximum value of the joint moment to be imposed on a wearer (a load joint moment maximum value) becomes equal to the reference joint moment maximum value z even if the maximum value of the necessary joint moment increases by the change of the value of a walking parameter (the change of a walking manner). Thereby, even if the value of the walking parameter changes, the walking while a load not more than the reference joint moment maximum value z is imposed becomes possible. <P>COPYRIGHT: (C)2013,JPO&INPIT |
