PROBLEM TO BE SOLVED: To provide a walking support device which uses insole-mounted load sensors to obtain floor reaction force suited to control.SOLUTION: A walking support device 1 measures the seating surface reaction force which a wearer 100 receives from a seat portion 61 with a seat surface load sensor attached to the upper surface of the seat portion 61. The seating surface reaction force is the force that the seat portion 61 lifts the wearer 100. The walking support device 1 divides the measured seating surface reaction force proportionally according to a ratio between the left and right floor reaction forces measured by a left foot load sensor 241L and a right foot load sensor 241R, respectively, and adds the results for the left and right to the floor reaction force of the left and right, respectively, for correction of the floor reaction forces. The walking support device 1 calculates a joint moment of left and right knee joints by using the corrected floor reaction forces, and determines a force required for assisting the left and right knees.COPYRIGHT: (C)2015,JPO&INPIT【課題】インソール設置型の荷重センサを用いて制御に適した床反力を得る歩行支援装置を提供する。【解決手段】歩行支援装置1は、着座部61の上面に取り付けた座面荷重センサを用いて装着者100が着座部61から受ける座面反力を計測する。座面反力は、着座部61が装着者100を持ち上げる力である。歩行支援装置1は、計測した座面反力を、右脚の足荷重センサ241Rと左脚の足荷重センサ241Lで計測される左右の床反力の比率で按分して、それぞれ左右の床反力に加算することにより床反力を補正する。歩行支援装置1は、当該補正後の床反力を用いて左右の膝関節の関節モーメントを算出し、左右の膝に対するアシスト力を決定する。【選択図】図3
