PROBLEM TO BE SOLVED: To improve a degree of determination accuracy in determining a transition from a stance phase to a pre-swing phase of an affected leg.SOLUTION: A walking assisting apparatus 1 is attached to a right leg of a user U and assists the user U in walking by controlling an angle of a knee joint of the right leg. The walking assisting apparatus 1 includes: an actuator 10 which increases and reduces the angle of the knee joint of the right leg a ground reaction force center detecting means for detecting a ground reaction force center as the center of the ground reaction force of the right leg a hip joint angle sensor 14 for detecting an angle of a thigh of the right leg a thigh angular velocity detecting means for detecting an angular velocity of the thigh of the right leg and an actuator control part 57 for controlling the actuator 10. The actuator control part 57 determines that the right leg transits from a stance phase to a pre-swing phase based on the center of the ground reaction force, the angle, and the angular velocity.COPYRIGHT: (C)2015,JPO&INPIT【課題】患脚の立脚期から前遊脚期への遷移判定の判定精度を改善する。【解決手段】歩行補助装置1は、ユーザーUの右脚に取り付けられ、右脚の膝関節角度を制御することで、ユーザーUの歩行を補助する。歩行補助装置1は、右脚の膝関節角度を増減させるアクチュエータ10と、右脚の床反力の中心としての床反力中心を検出する床反力中心検出手段と、右脚の上腿の角度を検出する股関節角度センサ14と、右脚の上腿の角速度を検出する上腿角速度検出手段と、アクチュエータ10を制御するアクチュエータ制御部57と、を備える。アクチュエータ制御部57は、床反力中心と角度、角速度に基づいて、右脚が立脚期から前遊脚期へ遷移したと判定する。【選択図】図7
