PROBLEM TO BE SOLVED: To perform walking assistance with a constant load sense even when a walking manner varies.SOLUTION: This walking assistance device performs an assist of each joint such that an angular impulse (the time integration value of a joint moment) in one walking period of a wearer becomes constant regardless of a walking condition by paying attention to the angular impulse as a load amount of the wearer during the one walking period. Specifically, the walking assistance device sets an angular impulse obtained by subtracting an angular impulse assisted by the walking assistance device from the angular impulse in the one walking period in the walking condition that is a reference as a reference angular impulse z, and sets an assist rate β such that the angular impulse to be imposed on the wearer becomes equal to the reference angular impulse z even if the angular impulse increases by the change of the value of a walking parameter (the change of the walking manner). Thus, when the value of the walking parameter changes, walking with the constant load sense of the reference angular impulse z becomes possible.COPYRIGHT: (C)2013,JPO&INPIT【課題】歩き方が異なる場合であっても、一定の負担感での歩行支援を行う。【解決手段】1歩行周期の間における装着者の負担量として角力積(関節モーメントの時間積分値)に着目し、歩行状態によらずに装着者の1歩行周期における角力積が一定となるように各関節のアシストを行う。すなわち、基準となる歩行状態の1歩行周期における角力積から、歩行支援装置がアシストした角力積を除いた角力積を基準角力積zとし、歩行パラメータの値が変化する(歩き方が変わる)ことで角力積が増加したとしても、装着者が負担すべき角力積が基準角力積zと均しくなるようにアシスト率βを設定する。これにより歩行パラメータの値が変わっても、一定の基準角力積zの負担感で歩くことが可能になる。【選択図】図1
