PROBLEM TO BE SOLVED: To perform a desirable walking assist operation.SOLUTION: A walking assist device comprises: control means that calculates a target flexion trajectory of a knee joint which makes an angle and an angular velocity of the knee joint successive at the starting time of swing leg and makes the angular velocity of the knee joint zero at the time of maximum knee flexion angle, on the basis of the angle and the angular velocity detected for the knee joint at the starting time of swing leg, swing leg flexion time and the maximum knee flexion angle of the swing leg, and then controls drive means in accordance with the target flexion trajectory and determination means that determines whether or not the target flexion trajectory of the knee joint, which is calculated on the basis of the angular velocity detected for the knee joint at the starting time of swing leg, the swing leg flexion time and the maximum knee flexion angle, is an overshoot trajectory. The control means, when the calculated target flexion trajectory of the knee joint is determined to be the overshoot trajectory, decreases the angular velocity of the knee joint at the starting time of swing leg, calculates the target flexion trajectory of the knee joint and controls the drive means in accordance with the target flexion trajectory.SELECTED DRAWING: Figure 4COPYRIGHT: (C)2017,JPO&INPIT【課題】望ましい歩行補助動作を行うこと。【解決手段】歩行補助装置は、遊脚開始時に検出された膝関節の角度及び角速度と、遊脚屈曲時間と、遊脚の最大膝屈曲角度と、に基づいて、遊脚開始時において膝関節の角度及び角速度が連続となり、最大膝屈曲角度となる時の膝関節の角速度が0となるような膝関節の目標屈曲軌道を算出し、該目標屈曲軌道に従って、駆動手段を制御する制御手段と、遊脚開始時に検出された膝関節の角速度と、遊脚屈曲時間と、最大膝屈曲角度と、に基づいて算出した膝関節の目標屈曲軌道がオーバーシュート軌道であるか否かを判定する判定手段と、を備える。制御手段は、算出した膝関節の目標屈曲軌道がオーバーシュート軌道であると判定されたとき、遊脚開始時における膝関節の角速度を減少させて、膝関節の目標屈曲軌道を算出し、該目標屈曲軌道に従って、駆動手段を制御する。【選択図】図4
