Patent ID: 9603761
Date: 2017-03-28
CPC Classifications: A61G,A61H

Claim:
1. A walking assist apparatus comprising: a pair of wheels; one rotatable auxiliary wheel or a pair of rotatable auxiliary wheels; at least one first driving unit that drives the pair of wheels; a main body that rotatably supports the pair of wheels; a grip that is disposed at one end of the main body to be able to be gripped by a user while standing up and walking and to assist the user in standing up and walking; a sensor unit configured to detect an angular change in an inclination angle of the main body in a pitch direction; and a first control unit configured and programmed to control an operation of the at least one first driving unit based on an output of the sensor unit such that the angular change in the inclination angle of the main body converges to zero; wherein the grip is turnable in a yaw direction of the main body in order to selectively position the one rotatable auxiliary wheel or pair of rotatable auxiliary wheels between the pair of wheels of the main body and the user, or to position the pair of wheels of the main body between the one rotatable auxiliary wheel or pair of rotatable auxiliary wheels and the user.