PROBLEM TO BE SOLVED: To improve production efficiency by quantitatively obtaining a work load on each worker in a factory line work, etc., reducing the work load, and promoting equalization in the work load with the reduction.SOLUTION: Sensors (52, 54) for measuring floor reaction force measure the floor reaction force of a walking assistance device mounting person. Energy consumption is calculated by estimation, based on a joint moment which is calculated by estimation, based on the measured floor reaction force. An assistance amount is calculated based on the energy consumption, so as to control the output of the electric motor 36 of the walking assistance device.COPYRIGHT: (C)2010,JPO&INPIT【課題】工場ライン作業等における各作業者の作業負荷を定量的に把握し、作業負荷低減、それに伴う作業負荷の平準化を推進し、生産効率の向上を図ること。【解決手段】床反力計測用のセンサ(52、54)によって歩行補助装置装着者の床反力を計測し、計測された床反力から推定演算された関節モーメントからエネルギ消費量を推定演算し、エネルギ消費量よりアシスト量を演算して歩行補助装置の電動モータ36の出力を制御する。【選択図】図1
