| 摘要 |
<p>A control device for a walking assistance device, having a seating section (2) on which the user (A) is seated, a left and right pair of foot sole installation sections (15R, 15L) fitted to the foot soles of the legs of the user (A), a left and right pair of leg links (3R, 3L) for interconnecting the seating section (2) and the foot sole installation sections (15R, 15L), actuators (27R, 27L) for driving joints (12) of the leg links (3R, 3L), and force detection means (90) for detecting force acting from the seating section (2) to the user (A). In order that force acting on the user (A) is maintained at a level greater than a predetermined lower limit of upward force, drive force of at least either of the actuators (27R, 27L) is limited depending on the level of the detected acting force. This allow the user to easily perform desired motion including jumping motion while allowing force for supporting the weight of the user to appropriately act to the user from the seating section.</p> |
