PROBLEM TO BE SOLVED: To provide an own weight compensating type walk assist device capable of effectively assisting walking action by compensating the own weight of a walker or a walking robot or others without needing a driving source.SOLUTION: The own weight compensating type walk assist device has a pair of leg parts 3A, 3B which are laterally symmetrically constituted, an upper body holding frame 2 connecting between the upper ends of the leg parts, a free leg own weight compensating mechanism arranged in each of the leg parts and compensating weight load acting to the leg part becoming a free leg, and an upper body own weight compensating mechanism arranged in each of the leg parts and compensating the weight load of the upper body acting on the leg part becoming the support leg, and carries out the assist of the walking action by operating the free leg own weight compensating mechanisms corresponding to the right and left leg parts and the upper body own weight compensating mechanism along with the walking action.COPYRIGHT: (C)2012,JPO&INPIT【課題】 駆動源を必要とせずに、歩行者や歩行ロボット等の自重を補償して歩行動作を効率的にアシストすることができる自重補償型脚歩行アシスト装置を提供する。【解決手段】 左右対称に構成された一対の脚部3A、3Bと、これらの脚部の上端間を連結する上体保持枠2と、それぞれの脚部に対して設けられ、遊脚となる脚部に作用する重力負荷を補償する遊脚自重補償機構と、それぞれの脚部に対して設けられ、支持脚となる脚部に作用する上体の重力負荷を補償する上体自重補償機構とを備え、左右の脚部に対応する遊脚自重補償機構と上体自重補償機構とを歩行動作とともに交互に働かせて歩行動作のアシストを行う。【選択図】 図1
