| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a walking aid device which smoothly assists movement of the affected leg while permitting such a situation where an affected leg and a healthy leg cannot be moved equally. <P>SOLUTION: The walking aid device 10 applies torque on one leg of a user to assist waking movement, and comprises a memory device 32 and a controller 30. The memory device 32 stores a standard walking pattern that describes a leg trajectory when the trajectories of both the walking legs follow an identical curve. The controller controls a motor 26 in synchronism with the movement of the second leg of the user detected by a leg sensor. In particular, the controller carries out (1) the processing for generating a target swinging leg trajectory by stretching or contracting a trajectory of the first leg in a swinging leg state included in the standard walking pattern along a time axis or along a front and back distance axis using a coefficient other than 1 and (2) the processing for controlling the motor 26 so that movement of the first leg in a swinging leg state may follow the target swinging leg trajectory. The walking aid device 10 generates a trajectory of the affected leg from the trajectory of the sound leg by introducing a coefficient other than 1. <P>COPYRIGHT: (C)2010,JPO&INPIT |
