Walking assistance device

Abstract

The invention provides a walking assistance device. The walking assistance device includes handles, a biasing force detection unit, and a control device. The control device performs forward control when a forward force is detected by one handle and a backward force is not detected by the other handle, performs backward control when the backward force is detected by one handle and the front force is not detected by the other handle, performs right-turn control when the backward force is detected by the right handle and the forward acting force is detected by the left handle, performs left-turncontrol when the forward force is detected by the right handle and the backward force is detected by the left handle, and performs backward control after stop control is performed for a predeterminedstop time when the backward force is detected by both handles and both handles, and then backward control is performed.

Description

technical field [0001] The present disclosure relates to walking assist devices. Background technique [0002] In recent years, various walkers have been proposed. For users such as the elderly who can walk independently but need assistance, a driving unit such as a motor generates an assisting force in the direction of travel, or reduces the load when carrying goods to assist walking. [0003] For example, the trolley (equivalent to a walking assist device) described in Japanese Patent Laid-Open No. 2017-12546 corresponds to the force of the user holding the handle bar (equivalent to the handle) to push the trolley, that is, the magnitude and direction of the handle force, and generates auxiliary walking for the trolley. Direction of the movement of the auxiliary force to assist the user's walking. In addition, the handle bar is provided with a right grip sensor that detects the grip of the user's right hand and a left grip sensor that detects the grip of the left hand. If...

AI Technical Summary

Problems solved by technology

[0004] In the trolley described in Japanese Patent Application Laid-Open No. 2017-12546, the right grip sensor for detecting the grip of the right hand and the left grip sensor for detecting the grip of the left hand can respectively detect whether the user is gripping the handle bar, but cannot detect whether the user is gripping the handle bar. The direction of the force of the lever

Therefore, in the trolley described in Patent Document 1, the user can hold the handle bar to generate an assisting force in the direction of travel of the wheels, but cannot drive one of the left and right wheels in a forward manner, and drive the other wheel in a backward manner. smaller turn

[0005] In addition, in the trolley described in Japanese Patent Laid-Open No. 2017-12546, for example, if a user who loses his balance and falls backward while walking wants to maintain his posture and pulls the handle bar he is holding, the trolley may violate the user's intention to drive backwards and further lose balance

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