| 摘要 |
<p>A control device for a walking assistance device includes a seating section (2) on which a user (A) is seated, a pair of left and right foot sole installation sections (15R, 15L) fitted to the foot soles of the legs of the user (A), a pair of left and right leg links (3R, 3L) which connect the seating section (2) to the foot sole installation sections (15R, 15L), actuators (27R, 27L) which drive joints (12) of the leg links (3R, 3L), and an acting force detection means (90) which detects force acting on the user (A) from the seating section (2). The control device controls a driving force of at least one of the actuators (27R, 27L) according to the detected value of the acting force so that the force acting on the user (A) is maintained at a level of a predetermined lower limit or greater of upward force. This allows the user to easily perform desired motion including jumping motion while allowing force for supporting the weight of the user to appropriately act on the user from the seating section.</p> |
