| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a walking assist device estimating the intention of a user trying to change a walking speed and automatically adjusting the swing speed of a leg brace. <P>SOLUTION: The walking assist device 10 includes a leg brace 12 with an actuator for swinging the leg of a user around a pitch axis, a controller 32 for controlling the leg brace 12, a shoe sole part 19 attached to the sole of a user, and a reaction force sensor 22. The controller 32 controls the leg brace 12 so as to cyclically swing the leg of the user by determined swing cycle and amplitude. The reaction force sensor 22 detects the shoe sole in-plane direction component of floor reaction force that the shoe sole part 19 receives from a walking surface. The controller 32 adjusts the walking speed stipulated by the swing cycle and amplitude of the leg brace 12 corresponding to the size in the anteroposterior direction of the detected shoe sole in-plane direction component. <P>COPYRIGHT: (C)2011,JPO&INPIT |
