PROBLEM TO BE SOLVED: To provide a measurement device for measuring an angle of a hip joint during continuous walking, which is required to control a walking pattern so as not to be influenced by the state of a walk-assist robot mounted thereon or the posture of a person to be assisted.SOLUTION: The measurement device measures an angle of the hip joint of a person 60 to be assisted, who is wearing a motion-assist robot S for assisting the walking motion of the person 60 to be assisted. The device obtains in advance the posture angle θHU of the upper waist from the hip joint of the person to be assisted (S1), obtains in advance an attachment angle θRU of the motion-assist robot attached to the waist of the person to be assisted (S2), detects the robot-hip joint angle θR, i.e. the angle between the waist of the motion-assist robot and the lower extremity of the motion-assist robot attached to the lower extremity from the hip joint to the lower part, and obtains the hip joint angle θH of the person to be assisted who performs a walking motion from the posture angle of the waist and the attachment angle in accordance with the robot hip joint angle (S3).COPYRIGHT: (C)2013,JPO&INPIT【課題】歩行補助ロボットの装着の状態や、被補助者の姿勢により影響を受けにくいように、歩行パターンを制御するために必要な連続歩行時の股関節角度を測定する測定装置等を提供する。【解決手段】被補助者60の歩行動作を補助する動作補助ロボットSが取り付けられた被補助者の股関節角度を測定する測定装置において、被補助者の股関節から上部の腰部の姿勢角θHUを予め取得し(S1)、被補助者の腰部に取り付けられた動作補助ロボットの取付角θRUを予め取得し(S2)、動作補助ロボットの腰部と、股関節から下部の下肢部に取り付けられた動作補助ロボットの下肢部との角度であるロボット股関節角度θRを検出し、ロボット股関節角度に応じて、腰部の姿勢角および取付角から、歩行動作を行う被補助者の股関節角度θHを求める(S3)。【選択図】図4
