PROBLEM TO BE SOLVED: To provide a walking support device capable of greatly reducing a risk of falling of a pedestrian.SOLUTION: A walking support device comprises: a cane part 10 extending in a vertical direction, in which a grip part 13 to be gripped by a pedestrian is provided at the upper end part a pedestal part 30 to which the lower end part of the cane part 10 is connected and an omni wheel 31 is incorporated, and which moves along with the walking of the pedestrian who grips the grip part 13 a laser range finder 50 for detecting the position of both legs or both feet of the pedestrian who walks while gripping the grip part 13 and a control device 70 for driving a drive part so that a zero moment point (ZMP) of the pedestrian who grips the grip part 13 moves through the cane part 10 in an opposite direction from a fall direction when the pedestrian is determined to be in a pre-fall state in which the pedestrian is about to fall on the basis of an output of the laser range finder 50.COPYRIGHT: (C)2016,JPO&INPIT【課題】歩行者の転倒の危険性を大きく軽減することができる歩行支援装置を提供する。【解決手段】歩行支援装置は、上下方向に延びており、歩行者が把持する把持部13を上端部に設けた杖部10と、この杖部10の下端部が連結しており、オムニホイール31が組み込まれ、把持部13を把持した歩行者の歩行に伴って移動する台座部30と、把持部13を把持して歩行する歩行者の両脚又は両足の位置を検知するレーザーレンジファインダー50と、このレーザーレンジファインダー50の出力に基づいて、歩行者が転倒しそうな転倒前状態であると判定すると、把持部13を把持している歩行者のゼロモーメントポイント(ZMP)が杖部10を介して転倒方向とは反対方向に移動するように駆動部を駆動する制御装置70とを備えている。【選択図】図1
