PROBLEM TO BE SOLVED: To provide a footwear-type walking assist device being used for an assist of a bipedal walking function and capable of performing an assist of optimal acceleration according to a walking state.SOLUTION: The walking assist device includes a right-foot footwear body 1 and a left-foot footwear body 1. Each footwear body 1 include: a base part 2 on which a sole should be placed a traveling mechanism consisting of one or a plurality of rolling bodies 5, which is disposed on the back face side of the base part 2 and causes the base part 2 to travel along a road surface a drive mechanism for driving the traveling mechanism a first measuring means disposed on the base part and measuring the speed of the base part during bipedal walking second measuring means disposed along the surface of the base part 2 for measuring pressures received from the sole at a plurality of points and a third measuring means for measuring the speed and acceleration of the lumber of a person during the bipedal walking. This walking assist device assists the bipedal walking by setting an IZMP (Imaginary Zero Moment Point) calculated by the first, second, and third means, or a pressure central position within a range not deviating from the grounding position of the sole.COPYRIGHT: (C)2013,JPO&INPIT【課題】二足歩行機能の補助に使用して歩行状態に応じて最適な加速の補助を図ることができる履物型の歩行補助装置を提供する。【解決手段】本発明に係る歩行補助装置は、右足用の履体1と左足用の履体1とを具え、各履体1は、足裏を載置すべきベース部2と、該ベース部2の裏面側に配備されてベース部2を路面に沿って走行させるための1或いは複数の転動体5からなる走行機構と、該走行機構を駆動する駆動機構と、該ベース部2に配備されて二足歩行中のベース部の速度を計測する第1計測手段と、該ベース部2の表面に沿って配備されて足裏から受ける圧力を複数点にて計測する第2計測手段と、二足歩行中の人の腰の速度と加速度を計測する第3計測手段を具え、各履体に配備された走行機構の走行速度を、前記第1、第2、第3の計測手段により算出されるIZMP 、もしくは、圧力中心位置が、足裏の接地位置から逸脱しない範囲に設定することで二足歩行を補助する。【選択図】図12
