PROBLEM TO BE SOLVED: To satisfy both of stable fixation and a wearing feeling.SOLUTION: For the respective walking scenes of a flat land, an ascending stair, a descending stair, an uphill and a downhill, one walking cycle is sectioned according to an operation state, and fastening strength of respective wearing parts 21-23 is predetermined for each section of the respective walking operation states. Then, the walking scene is determined from each sensor output, it is detected that in the walking operation state of which section a leg is, and the respective wearing parts 21-23 are fastened by the fastening force corresponding to the determined walking scene and the detected section. In the meantime, when a wearer is in a motionless state, the fastening force of the respective wearing parts 21-23 is changed to be loosened. That is, when a standing state and a sitting state are detected as the motionless state, the fastening force of a waist-part wearing part 21, an upper thigh wearing part 22 and a lower thigh wearing part 23 is loosened so as to be weaker than the fastening force (regular fastening force) when they are worn.COPYRIGHT: (C)2013,JPO&INPIT【課題】安定的固定と装着感の両者を満足させることを目的とする。【解決手段】平地、昇段、降段、上り坂、下り坂の各歩行シーン毎に、1歩行周期の間を動作の状態に応じて区分し、各歩行動作状態の区分毎に各装着部21~23の締付強度を予め決めておく。そして、各センサ出力から歩行シーンを判定すると共に、脚がどの区分の歩行動作状態にあるかを検出し、判定した歩行シーンと検出した区分に対応する締付力で各装着部21~23を締め付ける。一方、装着者が静止している場合に、各装着部21~23による締付力を緩めるように変更する。すなわち、静止状態として、起立状態と着席状態を検出した場合に、装着時の締付力(通常締付力)よりも弱くなるように、腰部装着部21、上腿装着部22、及び下腿装着部23の締付力を緩める。【選択図】図1
