Patent ID: 8562548

Claim:
A rehabilitation device including a walking assistance device having an actuator which is operable to generate and provide torque to at least one lower limb joint of a wearer wearing the walking assistance device, said rehabilitation device comprising: a floor reaction force pattern storing unit configured to store a plurality of different reference floor reaction force patterns, the plurality of different reference floor reaction force patterns being stored in the floor reaction force pattern storing unit prior to use of the rehabilitation device by the wearer; a floor reaction force pattern selecting unit for selecting a reference floor reaction force pattern from the plurality of reference floor reaction force patterns; a control target floor reaction force setting unit for determining a control target floor reaction force based on the reference floor reaction force pattern selected by the floor reaction force pattern selecting unit; a target torque calculating unit for calculating a target torque of the actuator to achieve the control target floor reaction force determined by the control target floor reaction force setting unit; and an actuator output controller for controlling output of the actuator such that the actuator generates a torque matching the target torque calculated by the target torque calculating unit; wherein an applied floor reaction force that the wearer receives is variable by an application of torque generated by the actuator.