| 摘要 |
A walking assist device which assists the knee joint with well synchronizing with the upper leg motion during the swing phase at low cost may be provided. The walking assist device comprises an upper link, a lower link, a rotary joint, an actuator, and a controller. The upper link is to be attached to an upper leg of a user. The lower link is to be attached to the lower leg of the user. The rotary joint swingably connects the lower link to the upper link. The rotary joint is coaxially aligned with the user's knee joint when the user wears the walking assist device. The actuator swings the lower link relative to the upper link. The controller controls the actuator so that the lower link guides the user's walking motion.
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