Gait assistive device and walking robot having the same

摘要

The present invention relates to a walking assisting device which can be used to improve walking disorders by replacing or compensating for movements of ankles and foot joints occurring during walking or is used in a floor structure of a walking robot. The walking assisting device of the present invention comprises: a foot support part; a rear connection part coupled to a heel portion of the foot support part; a rear foot portion plate coupled to the rear connection part, wherein the rear connection part comprises the joint, a shaft of the joint is arranged on a line of a load line or behind the line when viewed from a side with respect to the direction of walking, and the rotational moment of the foot support part is generated toward the ground of the direction of walking or the direction of walking during the first period of the standing period during a walking cycle.