PROBLEM TO BE SOLVED: To enable walking by an ideal shift of the center of gravity, by reducing a wearers feeling of discomfort from the walking.SOLUTION: A state during walking is determined from a body parameter, a joint angle and a floor reaction force and the like, and control is performed by means of a battery so that ideal right and left positions of the center of gravity can be set. More specifically, a persons position of the center of gravity is calculated by acquiring a walking state of a pedestrian wearing a walking assistance device the calculated position of the center of gravity is compared with the ideal right and left positions of the center of gravity in the walking state and a difference between the positions of the center of gravity is corrected by sliding the battery in a horizontal direction. A rightward/leftward shift of the center of gravity, which is required for the walking, is partially performed instead by the battery. Thus, the positions of the center of gravity in a state in which the walking assistance device is worn become the ideal right and left positions of the center of gravity the width of the persons own rightward and leftward winging becomes small and kinetic energy for the persons walking can be reduced. In addition, since a wearer walks on the basis of the ideal shift of the center of gravity even when walking in his/her peculiar way of walking, he/she can perform the effortless walking without a feeling of discomfort.COPYRIGHT: (C)2014,JPO&INPIT【課題】装着者の歩行に対る違和感を軽減し、理想的な重心移動による歩行を可能にする。【解決手段】身体パラメータ、関節角度、床反力などから歩行中の状態を判断し、理想的な左右重心位置になるように、バッテリを利用し制御する。すなわち、歩行支援装置を装着した歩行者の歩行状態を取得して人の重心位置を計算し、計算した重心位置と、当該歩行状態における理想的な左右重心位置とを比較し、その差分をバッテリを左右方向にスライドさせることによって補正する。歩行に必要な左右重心移動の一部をバッテリに代替させることで、歩行支援装置を装着した状態の重心位置が理想的な左右重心位置となり、人自身の左右の揺れ幅が小さくなり、人が歩行するための運動エネルギーを軽減することができる。また装着者にとっては、自分の癖のままの歩行であっても、理想的な重心移動の歩行になっているため、違和感のない楽な歩行をすることができる。【選択図】図5
