| 摘要 |
<p>A control device and a control program of a walking assisting device, wherein a target assist ratio which is the target value of the ratio of a force to be assisted by the walking assisting device (1) among all leg-power of a user (A) to all the leg-power is set, such an amount of a raising force acting on the user (A) from a seating part (2) that must be supported by leg links (3L, 3R) is determined by using the target assist ratio and the leg-power of each leg of the user (A) measured based on the outputs of force sensors (38, 38) and (39, 39), and the actuators (27, 27) of the leg links (3L, 3R) are controlled so that the determined amount of raising force can be generated from the leg links (3L, 3R). Thus, a force supported on a floor by the legs of the user (A) can be reduced while reducing the installed portions on each leg of the user (A), and the supporting force for reducing the force can be properly supported by the leg links (3L, 3R) corresponding to the legs of the user (A).</p> |
