Patent ID: 8544853

Claim:
A two-legged walking transportation device comprising: an upper body unit for supporting a rider's trunk; and leg units provided below the upper body unit, wherein each of the leg units includes: a link mechanism connected at one end to the upper body unit via a hip joint with at least three degrees of freedom; a foot mechanism connected to the other end of the link mechanism via an ankle joint with at least two degrees of freedom and being contactable with a floor surface; and a fixing mechanism for fixing the rider's foot to the link mechanism via a multi-axis force sensor, wherein the fixing mechanism is connected to the link mechanism above the ankle joint, the hip joint is voluntarily controlled in accordance with operating force and/or operating torque provided by the rider's foot and sensed by the multi-axis force sensor, and control of the ankle joint while standing is automatically performed as balance maintenance control without directly involving the rider.