| 摘要 |
PROBLEM TO BE SOLVED: To provide a walking support device which supports walking action without bringing uncomfortable feeling to a user.SOLUTION: The walking support device 100 comprises a lower limb link 12 to be mounted to a user's lower limb and a foot link 20 to be mounted to the foot. The foot link 20 is connected swingably to the lower limb link 12 with a joint 14. The foot link 20 is swung by a motor 16. The motor 16 is controlled by a controller 10. The foot link 20 is provided with a grounding sensor 22 which detects whether the foot is grounded or not. The controller 10 determines whether the foot is in a swinging period or a standing period according to the output of the grounding sensor 22. The controller 10 performs torque control of the motor 16 so that an output torque matches a target torque during the standing period. Besides, the controller 10 performs angle control of the motor 16 so that the swinging angle of the foot link 20 matches a target angle during the swinging period. |
