PROBLEM TO BE SOLVED: To provide an unaffected side information feedback type walking assisting device capable of walking almost similar to a physically unimpaired person, and training matched to the walking of the individual by controlling position of the joint angle of affected side lower limbs through the acquisition of joint angle information of unaffected side lower limbs for a hemiplegic patient by the cerebral stroke to give a time delay to the joint of affected side lower limbs and feeding back angle information of the unaffected side.SOLUTION: A threshold value for deciding bending and extension is to be set in advance. The bending starts by operating driving sources 21A, 21B of a slave mechanism 20 at the delayed point of just a designated phase from the time when a knee joint angle detected in angle detector 11B for knee joints comes lower than the threshold.COPYRIGHT: (C)2013,JPO&INPIT【課題】脳卒中による片麻痺患者を対象とし、健側下肢の関節角度情報を取得し、患側下肢の関節に時間遅れを与えて健側の角度情報をフィードバックして患側下肢の関節角度を位置制御することによって健常者に近い歩容、かつ個人に合った歩容による訓練を可能とする健側情報フィードバック型歩行補助装具を提供すること。【解決手段】屈曲と伸展とを判断する閾値をあらかじめ設定し、膝関節用角度検出器11Bで検出した膝関節角度が閾値を下回った時刻から、所定の位相だけ遅らせてスレーブ機構20の駆動源21A、21Bを動作させて屈曲を開始させることを特徴とする。【選択図】 図27
