PROBLEM TO BE SOLVED: To provide a walking assist device in which a swing leg curvature time becomes short to be close to a natural walking action even when an actual knee joint angle of a user at the time of starting swing leg is too large in a specific gait timing.SOLUTION: A walking assist device comprises: angle detection means detecting a knee joint angle drive means driving a knee joint storage means storing graph information of the knee joint angle in which the knee joint angle monotonically increases at a swing leg curvature time from the time of starting swing leg to the time of swing leg maximum bend in the swing leg period during the gait operation, and the knee joint angle monotonically decreases at a swing leg extension time from the time of swing leg maximum bend to the time of ending swing leg continued after the swing leg curvature time and control means controlling the drive means on the basis of the knee joint angle detected by the angle detection means to comply with the graph information. The control means makes the swing leg curvature time of the storage means short as the knee joint angle detected by the angle detection means at the time of starting swing leg increases.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2017,JPO&INPIT【課題】特定の歩容タイミングにおいて、ユーザの実際の遊脚開始の膝関節角度が大き過ぎる場合でも、遊脚屈曲時間が短く設定され自然な歩容動作に近づけること。【解決手段】歩行補助装置は、膝関節角度を検出する角度検出手段と、膝関節を駆動する駆動手段と、歩容動作中の遊脚期間において、膝関節角度が遊脚開始から遊脚最大屈曲までの遊脚屈曲時間において単調増加し、該遊脚屈曲時間に続く膝関節角度が遊脚最大屈曲から遊脚終了までの遊脚伸展時間において単調減少する、ように設定された膝関節角度のグラフ情報を記憶する記憶手段と、膝関節角度のグラフ情報に従って、角度検出手段により検出された膝関節角度に基づいて、駆動手段を制御する制御手段と、を備える。制御手段は、角度検出手段により検出された遊脚開始の膝関節角度が増加するに従がって、記憶手段の遊脚屈曲時間を短く設定する。【選択図】図1
