PID COUNTER, STEP SUPPORT DEVICE, AND COMPUTER READABLE MEDIA WITH A STEPS COUNTER SAVING THEREOF

摘要

A step support device, comprising: a provisioning section that provides a support force for stepping a user; a detection section which detects a hip joint angle which is an aperture angle of a hip joint of the user; and a control section that starts with a control that causes the providing section to provide the assisting power when the hip joint angle exceeds a predetermined threshold according to a support plan that is in advance for the stepping movement of a single step of the user is determined.