| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a walking aid for allowing a user to walk without falling even on an unlevel land. <P>SOLUTION: A walking aid comprises: a walking aid main body 10; a leg mechanism 11 having a plurality of leg parts 11a; a step sensor 20 which is arranged near the toe of each leg part 11a so as to detect a step from the swinging leg part to a landing site; an inclination sensor 21 for detecting the inclination of the walking aid main body 10; a gravity center sensor 22 for detecting the center of gravity; and a leg mechanism control part 30 for controlling the leg mechanism 11. The leg mechanism control part 30 comprises: a step amount calculating part 31 for calculating a distance between the toe and the landing point, based on a signal from the step sensor concerning the swinging leg part; and a leg part control amount calculating part 32 for calculating the posture control amount of the leg part, based on the calculated step amount, inclination information of the walking aid main body 10 from the inclination sensor 21, and gravity center position information of the walking aid main body 10 from the gravity center sensor 22. The controlled variable of the swinging leg part is determined based on the calculated step amount. Then the inclination sensor performs a horizontal keeping operation and the gravity sensor performs a falling preventing operation. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
