| 摘要 |
Provided is a walking aid device which can apply torque to a knee joint at an appropriate timing. The walking aid device is provided with an actuator, a reaction force sensor, and an angle sensor. The walking aid device is attached to a leg of a user. The actuator can apply torque to the knee joint of one leg of the user. The reaction force sensor detects floor reaction force which the foot of the one leg receives from the floor. The angle sensor detects the hip joint angle about the pitch axis of the one leg. The walking aid device determines the timing, at which the torque in the direction that swings the lower leg backward starts to be applied to the knee joint, on the basis of the detected floor reaction force and the detected hip joint angle. |
