| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an unaffected side information feedback type walking assisting device capable of walking almost similar to a physically unimpaired person, and training matched to the walking of the individual by controlling position of the joint angle of affected side lower limbs through the acquisition of joint angle information of unaffected side lower limbs for a hemiplegic patient by the cerebral stroke to give a time delay to the joint of affected side lower limbs and feeding back angle information of the unaffected side. <P>SOLUTION: A threshold value for deciding bending and extension is to be set in advance. The bending starts by operating driving sources 21A, 21B of a slave mechanism 20 at the delayed point of just a designated phase from the time when a knee joint angle detected in angle detector 11B for knee joints comes lower than the threshold. <P>COPYRIGHT: (C)2013,JPO&INPIT |
