PROBLEM TO BE SOLVED: To assist a wearers walking, and to increase walking efficiency.SOLUTION: A state during walking is determined from various parameters (a body parameter, a joint angle, a floor reaction force and the like), and actuators (a hip joint, a knee joint and a foot joint) for walking assist are controlled so that an ideal position of the center of gravity in the state can be set. The efficient walking, in which a distortionless way of walking is brought about by describing an ideal locus of the center of gravity (a burden is hardly imposed on a wearers leg or waist because right and left sides are balanced well), can be performed. More specifically, in each phase of the walking, a displacement between the center of gravity of the human body and the ideal center of gravity is detected the human body is moved by driving each actuator and the center of gravity of the human body is shifted in the direction of the ideal center of gravity so as to correct the displacement.COPYRIGHT: (C)2014,JPO&INPIT【課題】装着者の歩行の効率を高める。【解決手段】各種パラメータ(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、その状態の理想的な重心位置になるよう歩行アシスト用のアクチュエータ(股関節、膝関節、足関節)を制御する。理想的な重心軌跡を描くことにより歩き方に歪みの無い(左右バランスがよい、脚部や腰への負担が少ない)効率のよい歩行を行うことができる。より詳細には、歩行の各相において、人体重心と理想重心の位置のずれを検出し、各アクチュエータを駆動して人体を動かし、人体重心を理想重心の方向に移動して当該ずれを補正する。【選択図】図4
