| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a walking assistance device capable of stably applying a desired lifting force for reducing weight to be born by user's legs to a user. <P>SOLUTION: The walking assistance device 1 is equipped with a receiving part 2 for receiving part of the body weight of the user A applied from the above and a pair of right and left leg links 3R, 3L connected to the receiving part 2 via first joints 10R, L. Foot sole mounting parts 15 at lower ends of respective leg links 3 are each mounted on the foot sole of each leg of the user A. Respective leg links 3 are connected to the receiving part 2 such that, among supporting forces acting on the leg links 3 from the floor side when respective legs of the user A are standing legs, the line of action of the supporting force transmitted from the third joint 14 of the leg links 3 to low thigh frames 13 passes, in a sagittal plane, from the third joints 14 to a specific point P positioned above the receiving part 2 within the width in the front-rear direction of the contact face between the receiving part 2 and the user A. The supporting force is controlled to a prescribed target value. <P>COPYRIGHT: (C)2007,JPO&INPIT |
