Jun Ashihara,Yoshihisa Matsuoka,Hiroshi Matsuda,Yutaka Hiki,Makoto Shishido
申请号：
US13146519
公开号：
US09161880B2
申请日:
2010.01.19
申请国别(地区):
US
年份:
2015
代理人:
摘要：
In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of users body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance.
