PROBLEM TO BE SOLVED: To provide a walking assist robot capable of preventing tumble, utilizing remaining freeness, training for a long time without being tired, and performing walking type gait training.SOLUTION: The walking assist robot has a driving part which trains the walking of a care receiver and assists and suppresses the forward, rearward movement and right and left turning of the whole body of the care receiver, a sensor for measuring the movement of the trunk, a sensor for measuring the movement of lower limbs, a sensor for measuring the swing of arms, determines whether the care receiver tumbles from the measuring result of the respective sensors, generates command for preventing "tumble" when determining the tumble, continues the ordinary training when not determining "the tumble", wherein the driving section assists and suppresses the transfer of the whole body to back-forth and right-left turns of the care receiver, and further has a moving part having driving wheels 12W of independent two-wheel driving for assisting and suppressing a part of the swing of a waist, a trunk supporting part 130 for assisting and restraining another part of the swing of the waist and for assisting and suppressing the input by an arm swing input part for inputting the swing of the arms, and a lower limb driving part 140 for assisting and suppressing the movement of the lower limbs around joints of thighs, knees and feet of the care receiver.COPYRIGHT: (C)2011,JPO&INPIT【課題】転倒を防止でき、残存する随意性を生かすことのでき、疲労が少なく長時間の訓練ができ、移動式の歩行訓練が可能な歩行介助ロボットを提供する。【解決手段】被介助者の歩行を訓練する駆動部と、体幹の運動を計測するセンサ、下肢の運動を計測するセンサ、腕の振りを計測するセンサを備え、各センサの計測結果から被介助者が転倒するか否かを判定し、「転倒」と判断した場合にはこれを防ぐ指令を生成し、「転倒でない」と判断した場合には通常訓練を続行し、前記駆動部が、被介助者の前後・左右旋回への身体全体の移動を介助・抑制し、かつ腰の揺動の一部を介助・抑制する独立二輪駆動の駆動輪12Wを備えた移動部と、腰の揺動の他の一部を介助・拘束し、かつ腕の振りを入力する腕振り入力部による入力を介助・抑制する体幹支持部130と、被介助者の股・膝・足の関節まわりの下肢の運動を介助・抑制する下肢駆動部140を備えた。【選択図】図1
