PROBLEM TO BE SOLVED: To provide a long lower extremity orthosis with an actuator capable of applying an appropriate walking assist force to a lower thigh according to the walking state, even to a user who has difficulty in normal walking motion of the lower thigh.SOLUTION: In a long lower extremity orthosis according to the present invention, a control device: calculates a thigh phase angle on the basis of an angle related signal input from thigh attitude detection means at one sampling point applies the thigh phase angle at the one sampling point to assist force control data prestored in the control device and representing a relation between the thigh phase angle and the assist force to be applied to a lower thigh-side orthosis calculates the assist force to be applied to the lower thigh-side orthosis at the one sampling point and performs operation control of the actuator such that the assist force is output.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2018,JPO&INPIT【課題】下腿の正常な歩行動作が困難なユーザーに対しても、歩行状態に応じた適切な下腿への歩行補助力を付与し得るアクチュエータ付き長下肢装具を提供する。【解決手段】本発明に係る長下肢装具においては、制御装置は、一のサンプリングポイントにて大腿姿勢検出手段から入力される角度関連信号に基づいて大腿位相角を算出し、当該制御装置に予め記憶されている、大腿位相角と下腿側装具に付与すべき補助力との関係を示す補助力制御データに前記一のサンプリングポイントでの大腿位相角を適用して、前記一のサンプリングポイントにおいて前記下腿側装具に付与すべき補助力を算出し、前記補助力が出力されるように前記アクチュエータの作動制御を実行する。【選択図】図1
