Patent ID: 7828755

Claim:
A walking assist apparatus having a control device, a seat that receives a part of the weight of a sitting user from above, a pair of right and left thigh frames respectively connected to the seat through the intermediary of first joints, a pair of right and left crus frames respectively connected to the thigh frames through the intermediary of second joints, a pair of right and left foot-worn assemblies that are respectively connected to the crus frames through the intermediary of third joints, respectively adapted to be attached to the feet of the right and left legs of the user, and come in contact with the ground when the legs of the user become standing legs, an actuator for the left for driving the second joint among the joints of the 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 for driving the second joint among the joints of the 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, wherein the control device comprises: a treading force measuring means for measuring a treading force of each leg of the user on the basis of a force detection value indicated by an output of a first force sensor provided in each of the foot-worn assemblies; a desired lifting force setting means for setting a desired lifting force, which is a desired value of an upward lifting force to be applied to the user from the seat; a distributing means for determining a desired share for the left leg link and a desired share for the right leg link out of the desired lifting force by distributing the desired lifting force to the leg links on the basis of a ratio between the treading force of the left leg and the treading force of the right leg of the user; and an actuator controlling means for controlling the actuator for the left such that the lifting force actually imparted to the seat from the left leg link becomes the desired share for the left leg link and also controlling the actuator for the right such that the lifting force actually imparted to the seat from the right leg link becomes the desired share for the right leg link.