| 摘要 |
A walking assistance system includes an upper leg fitting which is attached along a user's upper leg. The upper leg fitting is formed from an upper leg frame that forms a framework of the upper leg fitting, and an upper leg coupling member that is vertically slidably supported on a guide rail provided on the upper leg frame, rotatably supported around a support shaft, and joined to the upper leg. When the upper leg fitting is made to swing in the fore-and-aft direction relative to the user's hip by a hip joint actuator, the position of the center of swing of the upper end of the upper leg fitting and the position of the hip joint are displaced, but it is possible to make the upper leg coupling member follow the upper leg by moving the upper leg coupling member relative to the upper leg frame, thus eliminating any uncomfortable sensation.
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