Walking assisting device
A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.
1. A walking aid apparatus comprising a sitting member which a user sits astride and a leg link coupled to a connection provided on an undersurface of the sitting member, wherein:
the leg link is coupled to the sitting member in such a way as to be free to swing in a forward and backward direction via the connection;
the connection is adapted in such a way that a forward and backward swinging fulcrum of the leg link is located above the sitting member; and
the connection includes an arc-shaped guide track longitudinal in the forward and backward direction and having a center of curvature above the sitting member and an upper end of the leg link movably engages with the guide track, by which the center of curvature acts as the forward and backward swinging fulcrum of the leg link.
2. The walking aid apparatus according to claim 1 , wherein the leg link is composed of a freely bending and stretching link having a rotary joint in the middle thereof and the upper end of the leg link engages with a portion of the guide track located backward of a line between the joint and the center of curvature of the guide track.
3. The walking aid apparatus according to claim 2 , further comprising a driving source for driving the joint.
4. The walking aid apparatus according to claim 1 , wherein the leg link includes a joint in the middle thereof and a driving source for driving the joint.
5. The walking aid apparatus according to claim 1 , wherein the connection is provided on an undersurface of a portion of the sitting member on which the user sits astride.
6. The walking aid apparatus according to claim 1 , wherein the forward and backward swinging fulcrum is located above a portion of the sitting member on which the connection is provided.
7. A walking aid apparatus comprising a sitting member which a user sits astride and a leg link coupled to a connection provided on an undersurface of the sitting member, wherein:
the leg link is coupled to the sitting member in such a way as to be free to swing in a forward and backward direction and in a lateral direction via the connection;
the connection is adapted in such a way that a forward and backward swinging fulcrum and a lateral swinging fulcrum of the leg link is located above the sitting member and
the connection includes an arc-shaped guide track longitudinal in the forward and backward direction and having a center of curvature above the sitting member and an upper end of the leg link movably engages with the guide track, by which the center of curvature acts as the forward and backward swinging fulcrum of the leg link.
8. The walking aid apparatus according to claim 7 , wherein the leg link is composed of a freely bending and stretching link having a rotary joint in the middle thereof and the upper end of the leg link engages with a portion of the guide track located backward of a line between the joint and the center of curvature of the guide track.
9. The walking aid apparatus according to claim 8 , further comprising a driving source for driving the joint.
10. The walking aid apparatus according to claim 7 , wherein the leg link includes a joint in the middle thereof and a driving source for driving the joint.
11. The walking aid apparatus according to claim 7 , wherein the connection is provided on an undersurface of a portion of the sitting member on which the user sits astride.
12. The walking aid apparatus according to claim 7 , wherein the forward and backward swinging fulcrum and the lateral swinging fulcrum are located above a portion of the sitting member on which the connection is provided.