Walking assist device
Provided is a walking assist device independent of a deviation of a bending/stretching state between user's legs and applying a force to a user in a direction intended by the user. The walking assist device performs control so that the larger the deviation of a value of a bending/stretching state variable representing the bending/stretching state of each of a pair of right and left legs of a user P is, the larger the deviation between the assist forces Fr and Fl acting on the user P from each of the leg links 2 is.
1. A walking assist device comprising:
a seating portion on which a user sits;
a pair of right and left leg links which are adapted to be fixed to respective predetermined positions of right and left legs of the user, the leg links being swingably connected to the seating portion for movement in conjunction with motions of the legs;
actuators which are configured to transmit driving forces to the leg links to cause assist forces to act on the user from the leg links, respectively, through the seating portion; and
a control unit which recognizes a target assist force and obtains values of bending/stretching state variables which represent bending/stretching states of the right and left leg links to control the driving forces of the actuators,
wherein the control unit calculates respective distribution ratios for the right and left leg links in accordance with the values of the bending/stretching state variables to calculate the respective driving forces for each of the right and left leg links by multiplying the target assist force by the corresponding distribution ratios.
2. The walking assist device according to claim 1 , further comprising ground sensors which sense the grounding of right and left feet of the user, wherein the control unit performs the control only in a state where both of the right and left feet are on a ground surface.
3. The walking assist device according to claim 1 , further comprising treading force sensors which detect right and left treading forces of the user, wherein:
each of the bending/stretching state variables is a variable that increases as a corresponding knee joint of the user extends more; and
the control unit calculates the respective distribution ratios for each of the right and left leg links by multiplying the values of the bending/stretching state variables by the corresponding right and left treading forces.