Patent ID: 11344466

Abstract:
In an assistance apparatus, when assisting a user in walking with an object, a motor generates, in a gait phase of a left leg, a tension less than a second threshold value in a first wire during a fifth period other than a first period during which a tension greater than or equal to a first threshold value is generated in the first wire, and a tension greater than or equal to the second threshold value in a second wire during a sixth period other than a second period during which a tension greater than or equal to the first threshold value is generated in the second wire, and generates, in a gait phase of a right leg, a tension less than the second threshold value in a third wire during a seventh period other than a third period during which a tension greater than or equal to the first threshold value is generated in the third wire, and a tension greater than or equal to the second threshold value in a fourth wire during an eighth period other than a fourth period during which a tension greater than or equal to the first threshold value is generated in the fourth wire.