PROBLEM TO BE SOLVED: To provide a walking assist device to attain more natural walking action.SOLUTION: A walking assist device comprises: 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, 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 calculates an angular deviation between the knee joint angle by the angle detection means at the time of starting swing leg and the knee joint angle by the graph information at the time of staring swing leg so that a magnitude of torque by the drive means at the time of starting swing leg is coincident with a magnitude of torque by the driving means at the time of ending erection leg just before starting swing leg, and sets an angle deviated from the knee joint angle at the time of starting swing leg detected by the angular detection means by the calculated angular deviation as a knee joint angle at the time of starting swing leg in the graph information.SELECTED DRAWING: Figure 1【課題】より自然な歩行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、ように設定されたグラフ情報を記憶する記憶手段と、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、遊脚開始における駆動手段のトルクの大きさと、該遊脚開始の直前の立脚終了における駆動手段のトルクの大きさと、が一致するように、角度検出手段の遊脚開始の膝関節角度と、グラフ情報の遊脚開始の膝関節角度と、の角度偏差を算出し、角度検出手段により検出された遊脚開始の膝関節角度から、算出した角度偏差だけずらした角度をグラフ情報の遊脚開始の膝関節角度に設定する。【選択図】図１
