To provide a walking assisting robot capable of efficiently assisting a walking training by actively executing various running, such as a traverse and an autorotation.SOLUTION: A walking assisting robot 1 includes: a machine frame 3 that is held by a walking trainee; a plurality of wheels 4 provided at such a machine frame for running, and has at least one of such wheels designed as a drive wheel that generates drive force for running. The plurality of wheels 4 is configured to generate side force in a direction intersecting with a vertical plane relative to a rotation center axial line by rotating around the rotation center axial line of the wheel, and to change the direction of the side force. The machine frame 3 is provided with a manual operation unit 6 that selects any one of multiple actions including the running direction of the machine frame 3 when operated by the walking trainee. A controller is provided which controls, when receiving a signal from the manual operation unit 6, the side force in such a way that the machine frame 3 executes the action in accordance with the signal including a turn.SELECTED DRAWING: Figure 1
【課題】横移動や自転などの多様な走行を能動的に行って歩行訓練を効果的に補助することのできる歩行補助ロボットを提供する。【解決手段】歩行訓練者がつかまる機体3に走行のための複数の車輪4が設けられるとともに、少なくともいずれか一つの車輪が走行のための駆動力を発生する駆動輪とされた歩行補助ロボット1であって、複数の車輪4は、車輪の回転中心軸線を中心に回転することにより回転中心軸線に対して垂直な面に交差する方向のサイドフォースを生じさせるとともに、サイドフォースの向きを変化させるように構成され、歩行訓練者が操作して機体3の走行方向を含む複数の挙動のいずれかを選択する手動操作部6が、機体3に設けられ、手動操作部6からの信号を受けて、機体3が旋回を含む信号に応じた挙動を行うようにサイドフォースを制御するコントローラを備えている。【選択図】図1
WALKING ASSISTING ROBOT
歩行補助ロボット
2024-07-26
Patent
Electronic Resource
Japanese
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