JP2014184086A - Walking support device and walking support program - Google Patents

Abstract

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.

Description

  The present invention relates to a walking support device and a walking support program, for example, a device that assists walking by supporting a part of body weight.

In recent years, a wearable walking support device (wearable mobility) that is worn by a pedestrian and supports (assist) the walking motion of the pedestrian with an actuator or the like has been actively studied. ) Walking assist devices have been proposed.
In the walking assist device described in Patent Document 1, the seating portion is lifted upward by changing the angle between the upper thigh frame and the lower thigh frame with an assisting actuator to support a part of the body weight.

These walking support devices calculate a joint moment generated in the joint from the movement (joint angle) of the wearer obtained from the encoder and the like and the floor reaction force that is an external force acting on the wearer from the walking surface, and The seating part is urged upward so as to provide a walking assist with a predetermined assist rate with respect to the moment.
This floor reaction force is detected by a floor reaction force detector installed on a shoe (a shoe-like foot wearing portion) worn by the wearer on the foot.

The form of the floor reaction force detector is classified into two types, an outsole installation type and an insole installation type.
The outsole installation type floor reaction force detector is installed on the outer bottom of a shoe, and includes a load sensor that measures a load that the shoe bottom receives from a walking surface. On the other hand, the insole installation type is installed on the insole of the shoe (the surface where the wearer's sole comes into contact with the inside of the shoe), and is composed of a load sensor that measures the load received by the insole from the sole of the wearer. .

In the case of the outsole installation type, the total load of the wearer and the walking support device is detected as the floor reaction force, whereas in the case of the insole installation type, the load acting on the wearer's sole is detected as the floor reaction force. Is done.
In the case of the outsole installation type, since it is necessary to make the shoe sole hard and there is a problem that it is difficult to walk and is heavy, there is a demand for using an insole installation type load sensor.

  However, in the case of using an insole installation type load sensor, there is a problem that if the seating portion is lifted upward, the output of the load sensor is reduced by this lifting, and the joint moment required for control cannot be calculated. Hereinafter, this problem will be described with reference to FIG.

As shown in FIG. 6A, a foot load sensor 241L is installed on the inner bottom of the foot mounting portion 24, and detects a load received from the sole of the wearer.
As the reaction of this load, the sole receives the force of the same size and upward direction. This is the floor reaction force. Thus, the floor reaction force which a sole receives can be measured by measuring the load which an insole receives from a sole.

The load 101 applied to the insole by the wearer's body is reduced by the force of the walking support device lifting the wearer's body upward, and the reduced value is detected by the foot load sensor 241L.
The lifted force is transmitted through the walking support device as indicated by the arrow 102 and escapes to the walking surface as indicated by the arrow 103.

FIG. 6B shows the walking assistance device 1 as viewed from the side.
The walking assist device 1 lifts the wearer 100 upward by the seating portion 61 and generates a seating surface reaction force Lz between the crotch of the wearer 100. Then, since the force which pulls up the leg part of the wearer 100 acts, the floor reaction force obtained from the output value of the foot load sensor 241L decreases by ΔL and becomes LL.
As described above, when an insole-installed load sensor is used, the assist force on the wearer 100 affects the measurement of the floor reaction force, and thus it is difficult to appropriately calculate the joint moment.

Japanese Patent Laid-Open No. 2007-616

  An object of the present invention is to obtain a floor reaction force suitable for control using an insole-installed load sensor.

In order to achieve the above object, according to the first aspect of the present invention, in the first aspect of the present invention, a seat portion on which a walking support target person sits and a first reaction received by the walking support target person from a seating surface of the seating section. A first reaction force acquisition means for acquiring a force; a pair of left and right foot mounting portions; and a pair of left and right second acquiring the second reaction force received by the sole of the walking support target in the foot mounting portion. A reaction force acquisition means; a pair of left and right upper biasing means disposed between the seating portion and the foot mounting portion, for biasing the seating portion upward with respect to the foot mounting portion; and the seating portion. Correction means for correcting the decrease in the second reaction force caused by urging upward using the first reaction force, and the upper urging force using the corrected second reaction force And an output control means for controlling the output of the means.
In the second aspect of the present invention, a ratio acquisition unit that acquires a ratio of a pair of left and right second reaction forces acquired by the second reaction force acquisition unit is provided, and the correction unit includes the acquired ratio. The walking support device according to claim 1, wherein the correction is performed by distributing the acquired first reaction force to the pair of left and right second reaction forces.
In a third aspect of the present invention, the seating unit on which the walking support target person sits, the pair of left and right foot mounting units, the seat mounting unit, and the foot mounting unit are disposed between the seat mounting unit and the foot mounting unit. A walking support program for a walking support apparatus, comprising a pair of left and right upper biasing means for biasing the seating portion upward, wherein the walking support target person receives from a seating surface of the seating portion. A first reaction force acquisition function for acquiring a reaction force; and a second reaction force acquisition function for acquiring a pair of left and right second reaction forces received by the soles of the walking support target in the foot mounting portion; Using the correction function for correcting the decrease in the second reaction force caused by urging the seating portion upward using the first reaction force, and using the corrected second reaction force, An output control function for controlling the output of the upper biasing means; To provide.

  According to the present invention, the floor reaction force suitable for control can be obtained by correcting the output value of the load sensor of the insole installation type using the seating surface reaction force.

It is a figure showing the composition of the weight support type walking support device. It is a figure for demonstrating the calculation method of a knee joint moment. It is a figure for demonstrating the correction method of a floor reaction force. It is the figure which showed the system configuration | structure of the mounting | wearing type robot. It is a flowchart for demonstrating operation | movement of a mounting | wearing type robot. It is a figure for demonstrating a prior art example.

(1) Outline of Embodiment The walking assist device 1 measures a seating surface reaction force that the wearer 100 receives from the seating unit 61 using a seating surface load sensor 67 attached to the upper surface of the seating unit 61. The seating surface reaction force is a force by which the seating unit 61 lifts the wearer 100.
The walking support device 1 distributes the measured seating surface reaction force by the ratio of the left and right floor reaction forces measured by the right leg foot load sensor 241R and the left leg foot load sensor 241L, and the right and left floor reaction forces respectively. The floor reaction force is corrected by adding to the force.
The walking assistance device 1 calculates the joint moment of the left and right knee joints using the corrected floor reaction force, and determines the assist force for the left and right knees.

(2) Details of Embodiment FIG. 1 shows a configuration of a weight support type walking support apparatus 1.
Fig.1 (a) is the figure which showed the place which looked at the structure of the walk assistance apparatus 1 which concerns on this Embodiment from the side surface (lateral direction with respect to the advancing direction).
FIG. 1B is a diagram in which the walking support device 1 in the state shown in FIG. 1A is viewed from the front (traveling direction) and the lower body part of the wearer 100 is represented by dotted lines.
As shown in FIG. 1, the walking support device 1 supports (burdens) a part of the weight of the wearer 100 and reduces the load on the wearer 100 when the wearer 100 rides over the rider. . Part of the weight is applied by generating an upward force on the seating portion 61 by driving an actuator described later.
Moreover, in the walking assistance apparatus 1, since the wearer 100 does not need to fix a waist | hip | lumbar part, an upper leg part, and a lower leg part, attachment / detachment becomes easy.

  As shown in FIGS. 1 (a) and 1 (b), the walking support device 1 is bent at the knee joint portion when the wearer 100 indicated by the dotted line is in a stretched state (upright state). Thereby, even in an upright state, an upward force can be generated in the seating portion 61 so that a part of the body weight can be borne.

  Returning to FIG. 1A, the walking assist device 1 includes a seating portion 61, a connecting member 63, a plate 62, guide rails 64 and 65, a seating surface load sensor 67, a hip joint pitch axis mechanism 17, a knee joint actuator 18, and an ankle joint. The pitch shaft mechanism 19, the upper leg connecting member 26, the lower leg connecting member 27, the foot connecting member 28, the foot mounting portion 24, the foot load sensor 241, and the like.

Although not shown, the knee joint actuator 18 and the ankle joint pitch shaft mechanism 19 are provided with encoders, and the angle formed by the upper thigh connecting member 26 and the lower thigh connecting member 27 and the lower thigh connecting member 27 and the foot connecting member 28. The angle formed can be detected.
The walking support device 1 can obtain the joint angles of the hip joint, the knee joint, and the ankle joint of the wearer 100 from the values of these encoders and the position of the hip joint pitch axis mechanism 17.

The hip joint pitch axis mechanism 17, the knee joint actuator 18, the ankle joint pitch axis mechanism 19, the upper thigh connection member 26, the lower thigh connection member 27, the foot connection member 28, the foot mounting portion 24, and the foot load sensor 241 are shown in FIG. As shown in (b), there are members for the right leg and the left leg. When one member is designated and described, it will be described by adding LR after the reference numeral.
Although not shown in the drawings, in the present embodiment, the control device 2 and the battery are disposed in the seating portion 61 or on the lower side of the seating portion 61. It may be arranged.
In FIG. 1A, the right side (toe side of the foot mounting portion 24) is the front as viewed in the drawing.

The seating part 61 is a member on which the wearer 100 sits down (sits down).
The seating portion 61 supports at least a part of the weight of the wearer 100 from below. Since the seating portion 61 is pressed against the crotch portion of the wearer 100 from below, the upper portion of the walking support device 1 is thereby fixed to the waist portion of the wearer 100.

On the upper surface of the seating portion 61, a seating surface load sensor 67 that detects a load received by the seating portion 61 from the wearer 100 is disposed.
As a reaction of this load, the wearer 100 receives an upward force having the same magnitude as the load from the seating portion 61. This force is a seating surface reaction force, and the seating portion 61 is a force that lifts the wearer 100 upward.
Thus, the walking assistance device 1 can measure the seating surface reaction force by correcting the detection value (load cell stress value) of the seating surface load sensor 67.
Here, the seating surface reaction force functions as a first reaction force that the walking support target receives from the seating surface of the seating portion, and the seating surface load sensor 67 functions as a first reaction force acquisition unit. ing.

The connecting member 63 extends to the rear of the seat portion 61, and two left and right plates 62 are fixed to the extended portion. The connecting member 63 fixes the position of the seating portion 61 with respect to the plate 62.
The two plates 62 are disposed so as to be rotatable about the axis of the connecting member 63, so that the connecting member 63 functions as an opening / closing shaft for the two plates 62. Accordingly, the two plates 62 are also opened and closed around the axis of the connecting member 63 as the legs of the wearer 100 are opened and closed.

The plate 62 is a fan-shaped member that is formed from the rear end side of the seating portion 61 to the lower portion of the front end side of the seating portion 61 and is convex toward the lower limb side. The plate 62 is a member that holds the seat portion 61 with respect to the movement of the lower limbs, and has rigidity that can withstand it.
On the surface of the plate 62, guide rails 64 and 65 (hereinafter, referred to as guide rails 65) are formed concentrically around a hip joint pitch axis center (position of the hip joint) K located above the seat portion 61. ing.
The guide rail 65 defines a trajectory in which the hip joint pitch axis mechanism 17 moves in the front-rear direction as the wearer 100 moves.

The hip joint pitch axis mechanism 17 is configured to freely move on the track by the guide rail 65, and the hip joint pitch axis mechanism 17 freely moves on the path by the guide rails 64, 65 as the wearer 100 walks. To do.
For example, in a state where the center of gravity moves forward by the wearer 100 moving the right leg forward, the right hip joint pitch shaft mechanism 17R freely moves forward on the track in conjunction with the movement of the leg, and the left on the standing leg side. The left hip joint pitch shaft mechanism 17L freely moves backward on the track in conjunction with the movement of the leg backward from the center of gravity.
As described above, the hip joint pitch axis mechanism 17 freely moves in the front-rear direction on the track by the force (movement) of the wearer 100 moving the leg in the front-rear direction, and is driven in the front-rear direction by the actuator. Absent.

  One end of an upper thigh coupling member 26 composed of a rigid member (for example, a columnar member) is fixed to the hip joint pitch shaft mechanism 17, and the knee joint actuator 18 is connected to the other end of the upper thigh coupling member 26. ing.

Since one end of the upper thigh connecting member 26 is fixed to the hip joint pitch axis mechanism 17, the angle with respect to the hip joint pitch axis mechanism 17 does not change, but the hip joint pitch axis mechanism 17 moves on the guide rail 65 on the arc. Thus, the angle of the upper thigh connecting member 26 with respect to the horizontal plane changes while keeping the angle θ with the tangent to the guide rail 65 constant.
That is, as the hip joint pitch shaft mechanism 17 moves forward on the guide rail 65 with the operation of raising the knee of the wearer 100, the angle between the upper thigh connecting member 26 and the horizontal plane becomes small (approaches horizontal).

  Then, the knee joint actuator 18 located on the other end side of the upper thigh connecting member 26 moves back and forth on an arc centered on the hip joint pitch axis center K which is the central axis of the guide rail 65. That is, the knee joint actuator 18 performs an arc motion while maintaining a certain distance from the hip joint pitch axis center K as the hip joint pitch axis mechanism 17 freely moves.

The other end side of the upper leg connecting member 26 is connected to the lower leg connecting member 27 via a knee joint pitch axis.
The knee joint actuator 18 is configured to change the knee joint angle between the upper thigh connecting member 26 and the lower thigh connecting member 27 based on the output of the knee joint actuator 18 with the knee joint pitch axis as an axis. That is, the knee joint actuator 18 increases the knee joint angle (closer to a straight line) so as to generate an upward urging force with respect to the seat portion 61 connected to the upper thigh coupling member 26 via the plate 62 or the like. Thus, a part of the weight of the wearer 100 is supported by the upper biasing force.
The knee joint actuator 18 is disposed between the seating portion and the foot mounting portion, and functions as a pair of left and right upper biasing means for biasing the seating portion upward with respect to the foot mounting portion.

The knee joint actuator 18 of the present embodiment will be described in the case where it is disposed at the position of the knee joint pitch axis (the connection point between the upper thigh connecting member 26 and the lower thigh connecting member 27). You may make it arrange | position in other positions, such as in the seat part 61, under the seat part 61, and the back of the hip joint pitch axis mechanism 17. FIG.
In this case, the output of the knee joint actuator 18 may be applied to the upper thigh connecting member 26 and the lower thigh connecting member 27 by arranging a pulley at a necessary position and using a transmission mechanism using a wire or a belt or other force transmission mechanism. .

The crus connecting member 27 is formed of a rigid member (for example, a columnar member), and an ankle joint pitch axis mechanism 19 is attached to the other end opposite to the knee joint actuator 18.
The ankle joint pitch shaft mechanism 19 is attached with a foot connecting member 28 made of a rigid member (for example, a columnar member).
A foot mounting portion 24 into which the foot of the wearer 100 is inserted is fixed to the foot connecting member 28 so that the position of the ankle joint pitch axis mechanism 19 is substantially the same height as the ankle joint of the wearer 100.
The ankle joint pitch shaft mechanism 19 is configured such that the foot connecting member 28 and the foot mounting portion 24 freely pitch with respect to the crus connecting member 27.

There are a pair of left and right foot mounting portions 24, and each member other than the foot mounting portion 24 is located between both legs as shown in FIG. Fits in.
Foot load sensors 241 </ b> R and 241 </ b> L for detecting a load that the inner bottom of the foot mounting unit 24 receives from the sole of the wearer 100 are arranged on the inner bottom (insole) of the foot mounting unit 24.

FIG. 1C is a diagram for explaining the details of the arrangement of the foot load sensor 241. As shown in this figure, a plurality of foot load sensors 241 are disposed on the inner bottom 41 in the cavity of the foot mounting portion 24 to detect a load from the sole of the wearer 100.
As a reaction of this load, the sole of the wearer 100 receives an upward force having the same magnitude as the load from the foot mounting portion 24. This force is the floor reaction force.

As described above, the walking assist device 1 can measure the floor reaction force based on the detection value of the foot load sensor 241.
The walking support device 1 adds up the detection values of the plurality of foot load sensors 241 to obtain the floor reaction force received by the wearer 100.
Here, the floor reaction force functions as a second reaction force received by the sole of the walking support target at the foot mounting portion, and the foot load sensor 241R and the foot load sensor 241L are a pair of left and right second reaction forces. It functions as a force acquisition means.

The floor reaction force detected by the foot load sensors 241R and 241L is a value before correction, which will be described later, and is used for controlling the knee joint actuator 18 after a predetermined correction.
Further, the foot mounting portion 24 is formed of a flexible member such as animal skin, cloth, synthetic leather, rubber, resin, etc., corresponding to the shape of the foot of the wearer 100 and the bending of the toes. It is flexible enough to deform.

The wearing procedure of the walking support device 1 is as follows.
First, the power of the walking support device 1 is turned off and the upper thigh connecting member 26 and the lower thigh connecting member 27 are folded.
Then, the wearer 100 wears the foot attachment unit 24 on the left and right legs in a sitting posture.
Next, the wearer 100 stands up, extends the upper thigh connecting member 26 and the lower thigh connecting member 27, and puts the seating portion 61 on the crotch.

Next, when the power is turned on, the walking support device 1 drives the knee joint actuator 18 so that the detection value of the seating surface load sensor 67 becomes the target value, and supports the weight of the wearer 100 by the seating portion 61. . When taking off the walking support device 1, the reverse procedure is performed.
Thus, the walking support device 1 is easy to attach and detach.

When the power is turned on, until the seat surface load sensor 67 of the seating portion 61 detects the load, the knee joint actuator 18 applies a load at the time of wearing that is smaller than the output torque corresponding to the support load (for example, By outputting a torque corresponding to the load of the walking support device 1 + the load corresponding to α), the seating portion 61 slowly rises to the waist of the wearer 100.
When the power is turned off, the knee joint actuator 18 sets the output torque corresponding to the load at the time of attachment / detachment that is smaller than the load at the time of wearing (the load of the walking support device 1−the load corresponding to β). Slow down slowly.

FIG. 2 is a diagram for explaining a knee joint moment calculation method.
The length of the perpendicular dropped from the knee joint actuator 18 to the floor reaction force F acting on the foot mounting portion 24 is defined as L1.
Further, the length of the perpendicular line dropped from the knee joint actuator 18 to the vertical line passing through the center of gravity G below the knee is L2.
When the gravity term acting below the knee is M, the joint moment T acting on the knee is obtained by the following equation (1).
T = F * L1-M * L2 (1)
For example, when the knee is extended, F >> M, and when the foot mounting portion 24 is lifted away from the walking surface, F = 0.

When the assist rate of the assist performed by the walking support device 1 is α, the assist force A output from the walking support device 1 to the knee joint actuator 18 is A = α × T.
As described above, the walking assist device 1 outputs the assist force using the floor reaction force. In the case of the foot load sensor 241 of the insole installation type, the floor reaction force decreases when the seating portion 61 pushes up the wearer 100 upward. It is necessary to correct the floor reaction force using force.

FIG. 3 is a diagram for explaining a method of correcting the floor reaction force.
The walking support device 1 divides the seating surface reaction force Lz received by the wearer 100 from the seating portion 61 by the ratio of the detection values LL and LR of the foot load sensors 241L and 241R, and apportions (distributes) the detection values LL and LR. )
LzR and LzL are obtained by dividing the seating surface reaction force Lz by the ratio of the detection values LL and LR, respectively.
The walking support device 1 adds LzL to LL for the floor reaction force of the left leg, and adds LzR to LR for the floor reaction force of the right leg, thereby adding the floor reaction force of the left leg and the right leg. Correct.

As described above, the walking assist device 1 corrects the decrease in the second reaction force (floor reaction force) caused by urging the seating portion upward using the first reaction force (seat surface reaction force). Correction means is provided.
In addition, since the walking assist device 1 acquires the ratio of the floor reaction force measured by the foot load sensor 241R and the foot load sensor 241L, the pair of left and right second reaction forces (floor obtained by the second reaction force acquisition means) Ratio acquisition means for acquiring the reaction force ratio is provided.
And since the walking assistance apparatus 1 distributes the seating surface reaction force to the floor reaction force in accordance with the ratio and corrects the floor reaction force, the correction means performs the first reaction force in accordance with the ratio of the left and right floor reaction forces. Correction is performed by dividing (seat surface reaction force) into a pair of left and right second reaction forces (floor reaction forces).

FIG. 4 is a diagram illustrating a system configuration of the walking support device 1.
The control device 2 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a storage unit, various interfaces, and the like (not shown). Electronically controlled.

The control device 2 includes a sensor information acquisition unit 3, a joint moment calculation unit 4, a floor reaction force recalculation unit 7, and an actuator, which are configured by executing various programs such as a walking support program stored in the storage unit by the CPU. An output determination unit 8, a device parameter storage unit 5, and a human body parameter storage unit 6 are provided.
The device parameter storage unit 5 stores the length between the joints of the walking support device 1, the weight of each unit, the position of the center of gravity, and the like.
The human body parameter storage unit 6 stores data representing physical characteristics such as the height and weight of the wearer.
Thus, the device parameter storage unit 5 and the human body parameter storage unit 6 store various parameters necessary for calculating the joint moment and the like.

The sensor information acquisition unit 3 acquires detection values from the joint angle sensor 9 (each encoder attached to the joint), the foot load sensor 241, and the seat load sensor 67.
The floor reaction force recalculation unit 7 corrects these detection values by adding a prorated value of the seating surface reaction force Lz to the detection values of the foot load sensors 241L and 241R.
The joint moment calculation unit 4 calculates the joint moments of the left and right knee joints using the corrected floor reaction force and the parameters of the device parameter storage unit 5 and the human body parameter storage unit 6.
The actuator output determining unit 8 determines the actuator output by calculating the assist force by multiplying the calculated joint moment by the assist rate, and drives the knee joint actuator 18 accordingly.

FIG. 5 is a flowchart for explaining the operation of the walking support device 1.
The following processing is performed by the CPU of the control device 2 according to the walking support program.
First, the sensor information acquisition unit 3 acquires left and right floor reaction force values (LL, LR) in a dynamic state (that is, a walking state) using the foot load sensors 241L, 241R (step 5).
Next, the floor reaction force recalculation unit 7 calculates the total value (La = LL + LR) of the left and right floor reaction forces in the dynamic state (step 10).

Next, the floor reaction force recalculation unit 7 calculates the ratio of the left and right floor reaction force values (RLL = LL / La, RLR = LR / La) in the dynamic state (step 15).
Next, the sensor information acquisition part 3 acquires the seating surface reaction force Lz using the seating surface load sensor 67 (step 20). More specifically, the floor reaction force recalculation unit 7 obtains a stress value from the seating surface load sensor 67, corrects the stress value, and obtains a seating surface reaction force Lz.

Next, the floor reaction force recalculation unit 7 divides the seating surface reaction force Lz into the ratio of the left and right floor reaction force values (LzL = RLL × Lz, LzR = RLR × Lz) (step 25).
Next, the floor reaction force recalculation unit 7 adds the divided seating surface reaction forces LzL and LzR to the left and right floor reaction force values (LLa = LL + LzL, LRa = LR + LzR), and calculates a correction value of the floor reaction force. (Step 30).

Next, the actuator output determination unit 8 determines the outputs of the left and right knee joint actuators 18 using the floor reaction force correction values and various parameters, and drives them (step 35).
Next, the control device 2 determines whether or not to continue the walking support operation (step 40). If it continues (step 40; Y), it returns to step 5; otherwise, it does not continue (step 40; N). The process is terminated.
For example, the walking support device 1 can select the start and end of walking support operation by the wearer pressing a switch, and the control device 2 performs the walking support operation when the switch is on. It is determined to continue, and it is determined to end the walking support operation when the switch is off.

  As described above, the walking support device 1 obtains an accurate floor reaction force by correcting the floor reaction force by the insole-installed foot load sensor 241 using the seating surface reaction force, and for walking support. It can be used to calculate joint moments.

DESCRIPTION OF SYMBOLS 1 Walking assistance apparatus 2 Control apparatus 3 Sensor information acquisition part 4 Joint moment calculation part 5 Device parameter memory | storage part 6 Human body parameter memory | storage part 7 Floor reaction force recalculation part 9 Joint angle sensor 18 Knee joint actuator 19 Ankle joint pitch axis mechanism 24 Foot Mounting part 241 Foot load sensor 26 Upper leg connecting member 27 Lower leg connecting member 28 Foot connecting member 41 Middle bottom 61 Seating part 62 Plate 63 Connecting member 64 Guide rail 65 Guide rail 67 Seat load sensor 100 Wearer 101 Load 102, 102 arrow Line K Hip pitch axis center

Claims (3)

A seating section on which a walking support target person sits;
First reaction force acquisition means for acquiring a first reaction force received by the walking support target person from the seating surface of the seat;
A pair of left and right foot mounting parts;
A pair of left and right second reaction force acquisition means for acquiring a second reaction force received by the soles of the walking support target in the foot mounting portion;
A pair of left and right upper biasing means disposed between the seating portion and the foot mounting portion and biasing the seating portion upward with respect to the foot mounting portion;
Correction means for correcting the decrease in the second reaction force caused by urging the seating portion upward using the first reaction force;
Output control means for controlling the output of the upper urging means using the corrected second reaction force;
A walking support device comprising: Comprising a ratio acquisition means for acquiring a ratio of a pair of left and right second reaction forces acquired by the second reaction force acquisition means;
The walking support according to claim 1, wherein the correction unit corrects the acquired first reaction force by dividing the acquired first reaction force into the pair of left and right second reaction forces according to the acquired ratio. apparatus. A seating portion on which a walking support target person sits, a pair of left and right foot mounting portions, and disposed between the seating portion and the foot mounting portion, and biases the seating portion upward with respect to the foot mounting portion. A walking support program for a walking support device comprising a pair of left and right upper biasing means,
A first reaction force acquisition function for acquiring a first reaction force received from the seating surface of the seating portion by the walking support target;
A second reaction force acquisition function for acquiring a pair of left and right second reaction forces received by the soles of the walking support target in the foot mounting portion;
A correction function for correcting a decrease in the second reaction force caused by urging the seating portion upward using the first reaction force;
An output control function for controlling the output of the upper biasing means using the corrected second reaction force;
A walking support program that uses a computer.

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