PROBLEM TO BE SOLVED: To satisfy both of stable fixation and a wearing feeling.SOLUTION: For the respective walking scenes of a flat land, an ascending stair, a descending stair, an uphill and a downhill, one walking cycle is sectioned according to an operation state, and fastening strength of respective wearing parts 21-23 is predetermined for each section of the respective walking operation states. Then, the walking scene is determined from each sensor output, it is detected that in the walking operation state of which section a leg is, and the respective wearing parts 21-23 are fastened by the fastening force corresponding to the determined walking scene and the detected section. Thus, the fastening force is ideally controlled for each fixing part even when going up and down stairs or a hill in addition to a flat land.COPYRIGHT: (C)2013,JPO&INPIT【課題】安定的固定と装着感の両者を満足させることを目的とする。【解決手段】平地、昇段、降段、上り坂、下り坂の各歩行シーン毎に、1歩行周期の間を動作の状態に応じて区分し、各歩行動作状態の区分毎に各装着部21~23の締付強度を予め決めておく。そして、各センサ出力から歩行シーンを判定すると共に、脚がどの区分の歩行動作状態にあるかを検出し、判定した歩行シーンと検出した区分に対応する締付力で各装着部21~23を締め付ける。これにより、平地に加え、階段や坂の昇降においても、固定箇所ごとに理想的な締め付け力のコントロールを行うことが可能となる。【選択図】図9
