GAIT STATE DETERMINATION APPARATUS GAIT STATE DETERMINATION METHOD AND WALKING TRAINING APPARATUS

摘要

The walk state determination device determines a walk state of a user whose walk assistance device that assists walking is mounted on a leg. The walking state determination device is detected by a foot mounting portion mounted on a walking assistance device and mounted on a foot of a user, a load detecting means mounted on a foot mounting portion, for detecting a load generated on the sole of the user, and a load detecting means. On the basis of the loaded sole, the load center calculating means for continuously calculating the load center position applied to the sole during the walking operation of the user, and the load center position calculated by the load center calculating means is located in the heel area of the sole. And a motion determination means for judging the timing of the swing start to the front of the leg portion on which the walking assistance device is attached when the transition is made from the toe area.