PROBLEM TO BE SOLVED: To provide a walk assisting device excelling in comfortableness of wearing and durability and having good energy efficiency.SOLUTION: The tip of an auxiliary leg for supporting the weight of a wearer is connected to follow the movement of a foot attaching part, and a sensor which is the origin of controlling the extensible force of the auxiliary leg based on the relative displacement in the extending direction of the auxiliary leg between a grounding portion of the foot attaching part when standing and the tip of the auxiliary leg is put outside of the foot attaching part to make the foot attaching part flexible and comfortable, and the extension of the auxiliary leg is locked during standing to improve energy efficiency.COPYRIGHT: (C)2012,JPO&INPIT【課題】履き心地、耐久性に優れ、エネルギー効率も良好な歩行補助装置を得ることを目的とする。【解決手段】装着者の体重を支える補助脚の先端を足装着部の動きに追従する様に接続し、足装着部の立脚時に接地する部分と補助脚先端との、補助脚の伸縮方向の相対変位に基づいて補助脚の伸縮力を制御する様にして制御の元となるセンサを足装着部から外に出し、足装着部を柔軟で快適なものにするとともに、立脚期には補助脚の伸縮をロックすることにより、エネルギー効率を良くした。【選択図】図1
