| abstract |
Provided are an auxiliary device, an auxiliary method and a program. The auxiliary device includes a wire (110) and a motor (114) for connecting the upper body belt and the left and right knee belts. When the motor assists the user who is holding the object to walk backward, in the walking phase of the left leg, the second wire ( 110a2 ) generates a tension equal to or greater than the first threshold value in the first section, and in the fifth section other than the first section In the second section, the tension equal to or higher than the second threshold is generated in the second thread, the tension equal to or higher than the first threshold value is generated in the first thread (110a1) in the second section, and the first thread is generated in the sixth section other than the second section. For the tension with a small threshold value, in the walking phase of the right leg, the fourth thread (110a4) is made to generate a tension equal to or greater than the first threshold value in the third section, and the fourth thread is made to generate the second tension in the seventh section other than the third section. For the tension equal to or greater than the threshold, the third thread ( 110a3 ) generates tension equal to or greater than the first threshold in the fourth zone, and causes the third thread to generate tension less than the second threshold in the eighth zone other than the fourth zone. |