Patent ID: 7880552

Claim:
A control system comprising: walking oscillator measuring means for measuring a walking oscillator of a walker whose walk is assisted by a walking assist device; first oscillator generating means for generating a first oscillator that tugs and is tugged by a walking oscillator measured by the walking oscillator measuring means such that an intrinsic angular velocity is reflected; determining means for determining a new intrinsic angular velocity on the basis of a difference between a first phase difference between the first oscillator and the walking oscillator and a desired phase difference; second oscillator generating means for generating a second oscillator that tugs and is tugged by a walking oscillator measured by the walking oscillator measuring means such that the intrinsic angular velocity determined by the determining means is reflected, and has a second phase difference, which is closer to the desired phase difference than the first phase difference is, with respect to the walking oscillator; and walking assist oscillator generating means for generating a walking assist oscillator of the walking assist device on the basis of the second oscillator and the walking oscillator measured by the walking oscillator measuring means.