PROBLEM TO BE SOLVED: To provide a walking assistance mechanism for allowing a knee of a front side leg of a walking person to be kept in an extension state and permitting a leg bending state of a rear side leg of the walking person when the person walks.SOLUTION: A walking assistance mechanism includes: hip side links； thigh side links to be connected to the hip side links so as to be relatively swingable in a front and rear direction of a user by hip joint side swing shafts； lower leg side links to be connected to the thigh side links so as to be relatively swingable in a front and rear direction by the hip joint side swing shafts； knee extension posture keeping mechanisms each of which restricts relative swing between the thigh side link and the lower leg side link so as to keep a knee extension posture where a relative angle between the thigh side link and the lower leg side link becomes larger； and knee bending posture permission mechanisms each of which releases restriction of the knee extension posture keeping mechanism when the thigh side link is positioned behind a position where the thigh side link forms a predetermined reference relative angle with respect to the hip side link, and permits a knee bending posture where a relative angle between the thigh side link and the lower leg side link becomes smaller.SELECTED DRAWING: Figure 3COPYRIGHT: (C)2020,JPO&INPIT【課題】歩行時に、歩行者の前方側の足は膝を伸ばした状態を維持する共に、歩行者の後方側の足は膝曲げを許容する歩行補助機構を提供する。【解決手段】本発明の歩行補助機構は、腰側リンクと、股関節側揺動軸によって利用者の前後方向に相対揺動可能に腰側リンクに連結される大腿側リンクと、膝関節側揺動軸によって、前後方向に相対揺動可能に大腿側リンクに連結される下腿側リンクと、大腿側リンクと下腿側リンクとの相対角が大きくなる膝伸ばし姿勢を維持するよう、大腿側リンクと下腿側リンクの相対揺動を規制する膝伸ばし姿勢維持機構と、大腿側リンクが腰側リンクに対して所定の基準相対角を成す位置よりも後方側に位置するとき、膝伸ばし姿勢維持機構の規制を解除して、大腿側リンクと下腿側リンクとの相対角が小さくなる膝曲げ姿勢になることを許容する膝曲げ姿勢許容機構と、を備える。【選択図】 図３
