PROBLEM TO BE SOLVED: To provide a control method and the like for a motion assistance device that stably assists the knee and gives sufficient walking assistance even in a standing period for walking.SOLUTION: In a control method for controlling a motion assistance device (walking assistance robot S) that is fitted to a knee joint part of the leg of an assisted person 60 during walking on a walking surface and assists motion of the knee joint part accompanied by the walking, motion to extend a knee joint part (5) is assisted continuously by a driving source (21) of the motion assistance device in a standing period in which the leg of the assisted person stands on the walking surface (S3), and in order to cancel a driving source protection function for disconnecting power supply to the driving source after the elapse of predetermined time from suspension of operation of the driving source, assistance given to the extending motion is reduced temporarily in the standing period before predetermined time (S5).COPYRIGHT: (C)2014,JPO&INPIT【課題】歩行の立脚期においても、安定的に膝の補助し、十分な歩行補助をする動作補助装置の制御方法等を提供する。【解決手段】歩行面上を歩行中における被補助者60の脚の膝関節部に装着されており、当該歩行に伴う当該膝関節部の動作を補助する動作補助装置(歩行補助ロボットS)制御する制御方法において、被補助者の脚が歩行面に立脚している立脚期において、動作補助装置の駆動源(21)により、膝関節部(5)の伸展動作を補助し続け(S3)、駆動源の動きが止まった時から所定時間後に、駆動源への電力の供給を遮断する駆動源保護機能を解除するために、立脚期において、所定時間前に伸展動作の補助を一時的に低減する(S5)。【選択図】図5
