Walking assistance device and controller for the same

摘要

A walking assistance device is capable of preventing a load transmit portion thereof from falling due to gravity when the operation of an actuator of the walking assistance device is stopped. A leg link is provided with an elastic member that imparts, to a third joint, an urging torque for restraining the flexion degree of the leg link from changing from a predetermined first flexion degree due to the gravity acting on the walking assistance device in a reference state wherein a foot-worn portion connected to the load transmit portion through the leg link is in contact with a ground and the flexion degree of the leg link at the third joint is the first flexion degree.