PROBLEM TO BE SOLVED: To reorganize the brain tissue of a patient with impaired brain tissue due to cerebral infarction or apoplexy or the like especially by obtaining the effect of neural rehabilitation under efficient rehabilitation.SOLUTION: The output of the actuator of a walking support apparatus 1 is controlled so as to obtain a floor reaction force pattern for which floor reaction force during normal walking is a norm, and a joint moment is imparted to the lower limb joint of an apparatus wearing person by the walking support apparatus.COPYRIGHT: (C)2010,JPO&INPIT【課題】効率的なリハビリテーションのもとに、神経リハビリテーションの効果を得て、特に、脳梗塞や脳卒中などにより脳組織に障害を生じた患者の脳組織を再組織化すること。【解決手段】規範歩行時の床反力を規範とした床反力パターンが得られるように歩行支援装置1のアクチュエータの出力を制御し、当該歩行支援装置によって装置装着者の下肢部関節に関節モーメントを付与する。【選択図】図1
