| 摘要 |
A walking assistance device (1) has a receiving section (2) for receiving pa rt of the weight of a user (A) applied from the above, and also has a pair of left and right leg links (3R, 3L) connected to the receiving section (2) via first joints (10R, 10L). Foot sole installation sections (15R, 15L) at lower ends of the leg links (3R, 3L) are each installed on the foot sole of each l eg of the user (A). When the legs of the user (A) are standing legs, supporting force out of the supporting force acting on the leg links (3R, 3L) from the floor side is transmitted from third joints (14R, 14L) of the leg links (3R, 3L) to lower thigh frames (13R, 13L). The leg links (3R, 3L) are individuall y connected to the receiving section (2) such that, in a sagittal plane, the line of action of the transmitted supporting force passes from each of the third joint (14R, 14L) to a specific point (P) positioned above the receivin g section (2), the specific point (P) being located within the width in the front-rear direction of a contact surface between the receiving section (2) and the user (A). Desired lifting force that reduces weight to be born by th e user~s legs can be stably applied to the user.
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