| 摘要 |
PROBLEM TO BE SOLVED: To provide an assisting device by which the weight load of a trainee can be surely reduced by eliminating the effect of a moment load, and a walk training device using the assisting device. SOLUTION: This assisting device 3 which is used for a walk training device is equipped with a gripping section 10 which holds the body of a trainee and can move in the vertical direction, a driving section 11 which drives the location of the gripping section in the vertical direction, a force detecting sensor 12, and an assistance control device 8 to control the driving section 11 which moves the gripping section 10 at least based on the force detecting information from the force detecting sensor 12, and the force detecting sensor 12 is provided in a location roughly meeting the axes of linear guides 20A and 20B which constitute the driving section 11, and detects a more accurate force load in the vertical direction only by eliminating the effect by a component in the moment direction. |
