PROBLEM TO BE SOLVED: To provide a walking assist robot that prevents a care receiver from toppling down, uses the residual voluntary motor functions in him/her, allows him/her to do training for a long time with less fatigue, and can provide him/her with walking training while moving.;SOLUTION: A walking assist robot includes: a drive unit for providing a care receiver with walking training; a sensor for measuring the motion of the trunk; a sensor for measuring the motion of the lower limbs; and a sensor for measuring the swing of the arms. In the walking assist robot, whether the care receiver will topple down or not is determined from the measuring results of each sensor, when the determination is "toppling down," commands for preventing him/her from toppling down are generated, and when the determination is "not toppling down," ordinary training is continued. The drive unit assists/suppresses the forward or backward movement and the movement of turning right or left of the whole body of the care receiver. The walking assist robot also includes: a moving unit which has driving wheels of independent two-wheel drive for assisting/suppressing the swing including the lateral movement and the turning movement in the horizontal plane of the waist; a trunk supporting unit for assisting/restraining another part of the swing of the waist and assisting/suppressing the input by an arm swing input unit which enters the swing of the arms; and a lower limb drive unit for assisting/suppressing the movement of the lower limbs around the joints of the groins, knees, and feet of the care receiver.;COPYRIGHT: (C)2014,JPO&INPIT
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