Patent ID: 7883483

Claim:
A control device of a walking assisting device having a left and right side, the walking assisting device provided with a seating part that receives from above a part of a weight of a user sitting thereon, a pair of right and left thigh frames joined respectively to the seating part through an intermediary of first joints, a pair of right and left crus frames joined respectively to the thigh frames through an intermediary of second joints, a pair of right and left foot-worn assemblies that are respectively joined to the crus frames through an intermediary of third joints and respectively configured for attaching to feet of a right and left leg of the user and for coming into contact with the ground when the legs of the user become standing legs, an actuator for the left side of the device for driving the second joint among joints of a left leg link composed of the first joint, the thigh frame, the second joint, the crus frame, the third joint, and the foot-worn assembly on the left side, and an actuator for the right side of the device for driving the second joint among joints of a right leg link composed of the first joint, the thigh frame, the second joint, the crus frame, the third joint, and the foot-worn assembly on the right side, the control device comprising: a treading force measuring element adapted to capture a treading force of each leg of the user from an output of a force detection value indicated by a first force sensor provided in each of the foot-worn assemblies; a desired assist ratio setting means for setting a desired assist ratio, which is a desired value of a ratio of a force to be supplied by the walking assisting device in a total treading force, which is a total sum of the treading forces of the legs of the user, relative to the total treading force; a desired lifting share determining means for determining a desired lifting share which is a desired value of a share of the left leg link and a desired lifting share which is a desired value of a share of the right leg link in an upward lifting force to be applied to the user from the seating part by multiplying the treading force of each leg of the user, which has been measured by the treading force measuring element, by the desired assist ratio; and an actuator controller adapted to control the actuator for the left side of the device such that a lifting force actually imparted to the seating part from the left leg link becomes the desired lifting share of the left leg link determined by the desired lifting share determining means and also to control the actuator for the right side of the device such that a lifting force actually imparted to the seating part from the right leg link becomes the desired lifting share of the right leg link determined by the desired lifting share determining means.