| abstract |
A walking assistance device ( 1 ) has a body-mounted assembly ( 2 ) installed on the waist of a user (A), foot-mounted assemblies ( 3 L, 3 R) installed on feet, and leg links ( 4 L, 4 R) which connect the foot-mounted assemblies ( 3 L, 3 R) to the body-mounted assembly ( 2 ). The foot-mounted assemblies ( 3 L, 3 R) are provided with floor reaction force sensors ( 13 L, 13 R). Results obtained by multiplying the absolute values of floor reaction force vectors (three-dimensional vectors) detected by the floor reaction force sensors ( 13 L, 13 R) by a predetermined ratio are defined as target values of the magnitudes of the supporting forces transmitted to the leg links ( 4 L, 4 R) from the foot-mounted assemblies ( 3 L, 3 R). Actuators ( 20 L, 20 R) of the leg links ( 4 L, 4 R) are controlled such that the supporting forces having the magnitudes of the target values act on the leg links ( 4 L, 4 R) from the foot-mounted assemblies ( 3 L, 3 R) through the intermediary of joints ( 19 L, 19 R). |