Phase transition timing determination method, phase transition timing determination device, walking support control method, and walking support device

摘要

The walking support device is mounted on a leg of a human body, and includes a walking support device (1) and a control unit (1) including a variable stiffness mechanism (4) whose rigidity with respect to a direction in which the knee bends and extends can be changed by driving a motor (42). 5). Based on the calculated relative speed, a toe movement calculating unit (53) that receives the output of the sensor (11, 21) that detects the movement of the leg and continuously calculates the relative speed of the toe with respect to the waist of the human body. A leg state determination unit (54) for determining which transition timing is between the swing phase and the stance phase. As described above, by using the relative foot tip speed with respect to the reference position of the human body, the transition timing between the swing phase and the stance period can be determined more accurately without using the pressure sensor of the sole.