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    • 61. 发明专利
    • WALKING ASSISTING DEVICE
    • JP2002301124A
    • 2002-10-15
    • JP2001109046
    • 2001-04-06
    • HONDA MOTOR CO LTD
    • KATO HISASHI
    • A61H3/00
    • PROBLEM TO BE SOLVED: To control a decline in muscle power and correct a walking form by promoting motion by assisting motion such as walking of a user with weakened muscle power of the legs. SOLUTION: This walking assisting device has the first electric actuator 12 for extending and bending the hip joint of a user, the second electric actuator 13 for extending and bending the knee joint of a user, and a back pack 11 mounted on the back of a user in which a power source 29 for the first and the second electric actuators 12 and 13 and a control means 26 is accommodated. The control means 26 calculates the necessary torque for the hip joint and the knee joint required in each motion mode based on the output of an angle sensor and a gyro sensor for a joint and generates the torque obtained by subtracting the threshold value TV previously set according to the state of a user from the necessary torque in the first and second electric actuators 12 and 13.