| 摘要 |
In order to achieve a walking assistance device that can be securely fitted to the user's body while allowing a certain degree of freedom, a walking assistance device is provided comprising a hip joint rotational force generator (hip joint actuator 10 ) mounted on a side of a hip joint and a knee joint rotational force generator (knee joint actuator 26 ) mounted on a side of a knee joint to provide an assisting force to a movement of a lower limb, wherein the hip joint rotational force generator is fitted to the body via a first linkage means (link plate 30 ) having at least two degrees of freedom, and wherein the hip joint rotational force generator and the knee joint rotational force generator are connected to each other via a second linkage means (link bar 25 ) having an expandable and contractable means. In this way, deformation in lateral and torsional directions of the first linkage means and expansion/contraction of the second linkage means can absorb a deviation in position between the joints of the user's body and the assisting force generators.
|
