Walking assistance device, control method, and storage medium

Abstract

The present application relates to a walking assisting device, a control method, and a storage medium. In a walking assisting device that assists a user's walking action by providing a resistance to the movement of the user's knee joint in accordance with the user's walking state, an assisting force control section reduces the resistance provided to the movement of the user's knee joint in a case where it is determined that the user's walking state has shifted from a support phase to a swing phase, and a knee folding detection section detects a knee folding by detecting that the user's knee joint is located forward of the user's waist in the support phase. The assisting force control section reduces the degree of reduction of the resistance or stops the reduction of the resistance in a case where the knee folding is detected by the knee folding detection section.

Description

TECHNICAL FIELD

[0001] The present application relates to a walking assisting device, a control method, and a storage medium, and particularly relates to a walking assisting device, a control method, and a storage medium that provide resistance to the knee of a user. BACKGROUND

[0002] A body movement detecting device disclosed in Japanese Patent No. 5927552 further discriminates each period of a support phase and a swing phase in a user's walking action into detailed intervals using two displacement sensors respectively arranged on a front surface of a thigh and a front surface of a lower leg. Such a body movement detecting device can be installed in a walking assisting device and used. Such a walking assisting device can increase or decrease resistance provided to the knee of a user based on the discriminated intervals. SUMMARY

[0003] The present application relates to a walking assisting device, a control method, and a storage medium, and particularly relates to a walking assisting device, a control method, and a storage medium that provide resistance to the knee of a user.

[0004] During a user's walking action, knee folding can occur. If knee folding occurs, such a body movement detecting device can mis-discriminate each period of a support phase and a swing phase in the user's walking action. Thus, such a walking assisting device cannot appropriately increase or decrease resistance provided to the knee of a user, and can not be able to appropriately assist the user's walking action.

[0005] The present application relates to a walking assisting device, a control method, and a storage medium, and particularly relates to a walking assisting device, a control method, and a storage medium that provide resistance to the knee of a user.

[0006] A walking assisting device of the present application provides resistance to the movement of a knee joint of a user according to the user's walking state, and assists the user's walking action, and includes:

[0007] an assistance force control section that decreases the resistance provided to the movement of the knee joint of the user if it is determined that the user's walking state is shifted from a support phase to a swing phase; and

[0008] a knee folding detection section that detects knee folding by detecting that the knee joint of the user is located forward of the user's waist in the support phase,

[0009] The assistance force control section decreases the degree of decrease in the resistance or stops the decrease in the resistance if the knee folding is detected by the knee folding detection section.

[0010] According to such a configuration, even if the knee flexion occurs, the degree of reduction in the resistance force provided to the movement of the knee joint is reduced or the reduction in the resistance force is stopped. Thus, sufficient resistance force can be provided to the movement of the knee joint of the user in which the knee flexion occurs. Thereby, the knee flexion can be detected in the user's walking action and the user's walking action can be appropriately assisted.

[0011] Alternatively, the walking assisting device can be characterized in that

[0012] Further, a thigh posture angle acquisition unit that acquires a thigh posture angle formed by a lengthwise axis of the thigh of the user and a plumb line,

[0013] The knee flexion detection unit determines that the knee joint of the user is located in front of the waist of the user in the support phase based on the acquired thigh posture angle.

[0014] According to such a configuration, the knee flexion can be detected using the thigh posture angle.

[0015] Alternatively, the walking assisting device can be characterized in that

[0016] Further, a knee position sensor that detects a position of the waist of the user with respect to the knee joint,

[0017] The knee flexion detection unit determines that the knee joint of the user is located in front of the waist of the user in the support phase using the knee position sensor.

[0018] According to such a configuration, the knee flexion can be detected using the position of the waist of the user with respect to the knee joint.

[0019] The control method of the walking assisting device of the present application is executed in a walking assisting device that provides a resistance force to a movement of a knee joint of a user in accordance with a walking state of the user, and assists a walking action of the user, and includes:

[0020] a step of reducing the resistance force provided to the movement of the knee joint of the user in a case where it is determined that the walking state of the user shifts from the support phase to the swing phase; and

[0021] a step of detecting a knee flexion by detecting that the knee joint of the user is located in front of the waist of the user in the support phase,

[0022] in a case where the knee flexion is detected in the step of detecting the knee flexion, the degree of reduction in the resistance force is reduced or the reduction in the resistance force is stopped in the step of reducing the resistance force.

[0023] According to such a configuration, even if the knee flexion occurs, the degree of reduction of the resistance force provided to the movement of the knee joint is reduced or the reduction of the resistance force is stopped. Thus, sufficient resistance force can be provided to the movement of the knee joint of the user in which the knee flexion occurs. Therefore, the knee flexion can be detected in the walking action of the user and the walking action of the user can be appropriately assisted.

[0024] The storage medium of the present application stores a control program of a walking assistance device, which is a control program of a walking assistance device executed by a computer functioning as an arithmetic device in the walking assistance device, the walking assistance device providing a resistance force to a movement of a knee joint of a user in accordance with a walking state of the user, assisting a walking action of the user, wherein the control program causes the following steps to be executed:

[0025] reducing the resistance force provided to the movement of the knee joint of the user in a case where it is determined that the walking state of the user shifts from the support phase to the swing phase; and

[0026] detecting the knee flexion by detecting that the knee joint of the user is located in front of a waist of the user in the support phase,

[0027] in a case where the knee flexion is detected in the step of detecting the knee flexion, the control program causes, in the step of reducing the resistance force, the degree of reduction of the resistance force to be reduced or the reduction of the resistance force to be stopped.

[0028] According to such a configuration, even if the knee flexion occurs, the degree of reduction of the resistance force provided to the movement of the knee joint is reduced or the reduction of the resistance force is stopped. Thus, sufficient resistance force can be provided to the movement of the knee joint of the user in which the knee flexion occurs. Therefore, the knee flexion can be detected in the walking action of the user and the walking action of the user can be appropriately assisted.

[0029] The present application can appropriately assist a walking action of a user by detecting a knee flexion in the walking action of the user. BRIEF DESCRIPTION OF DRAWINGS

[0030] The features, advantages, and technical and industrial significance of exemplary embodiments of the application will be described in the following detailed description of non-limiting embodiments with reference to the accompanying drawings, wherein like numerals denote like elements.

[0031] Figure 1 is a schematic view showing a walking assistance device of Embodiment 1.

[0032] Figure 2 is a block diagram showing a control configuration of the walking assistance device of Embodiment 1.

[0033] Figure 3 is a schematic view showing a thigh posture angle θt and a shank posture angle θs.

[0034] Figure 4 is a schematic view showing a support phase and a swing phase in an example of a user's walking action.

[0035] Figure 5 is a schematic view showing a knee flexion state and a swing transition state.

[0036] Figure 6 is a flowchart of a control method of the walking assistance device of Embodiment 1.

[0037] Figure 7 is a graph showing a change in a calf posture angle θs in an example of a user's walking action.

[0038] Figure 8 is a diagram showing an example of a hardware configuration included in the walking assistance device. DETAILED DESCRIPTION

[0039] Hereinafter, with reference to the accompanying drawings, a specific embodiment to which the present application is applied will be described in detail. However, the present application is not limited to the following embodiment. In addition, the following description and the accompanying drawings are appropriately simplified for the sake of clarity. Figure 1

[0040] (Embodiment 1)

[0041] Reference will be made to Embodiment 1 with reference to Figures 1-5 . Furthermore, of course, Figure 1 the right-hand rule XYZ coordinates shown in the drawings are for the sake of convenience, coordinates for explaining positional relationships of constituent elements. In general, the Z-axis positive direction is the vertical upward direction, and the XY plane is the horizontal plane, which is common among the drawings.

[0042] As shown in Figure 1 , the walking assistance device 10 is provided with a thigh (upper leg) side link 1 and a calf (lower leg) side link 2. The walking assistance device 10 is used by being attached to the leg of a user U1. The thigh side link 1 is attached to the thigh U1b of the user U1 in a detachable manner. The calf side link 2 is attached to the calf U1d of the user U1 in a detachable manner. The thigh side link 1 and the calf side link 2 rotate with respect to each other around the knee joint U1c of the user U1. The user U1 is a person who is difficult to freely move the knee joint in many cases. The user U1 attaches the walking assistance device 10 to his or her own leg for the purpose of recovering the movement function of the knee joint, and performs a walking action as training. The walking assistance device 10 provides resistance to the movement of the knee joint of the user U1 according to the walking state of the user U1, and assists the walking action of the user U1.

[0043] As shown in Figure 2 ​As shown, the walking assistance device 10 is provided with a thigh posture angle acquisition unit 3, a lower leg posture angle acquisition unit 4, a control unit 5, and an actuator 6.

[0044] The thigh posture angle acquisition unit 3 can detect, for example, a thigh posture angle θt as shown, and is, for example, a thigh posture angle sensor. Figure 3 The thigh posture angle θt as shown can be detected by the thigh posture angle acquisition unit 3, and is, for example, a thigh posture angle sensor. Figure 3 The user U1 as shown is in a state in which the foot U1e is placed on the walking surface G1. The thigh posture angle θt is an angle formed by the intersection of the plumb line Z1 and the length direction axis T1 of the thigh U1b. The plumb line Z1 is a straight line extending in the direction of gravity (here, the Z-axis direction). In a case in which the knee joint U1c of the user U1 is located in front of the waist U1a of the user U1 (here, the positive side of the X-axis direction), the thigh posture angle θt is a negative value. In a case in which the knee joint U1c is located behind the waist U1a (here, the negative side of the X-axis direction), the thigh posture angle θt is a positive value. It is desirable that the thigh posture angle acquisition unit 3 be installed to the thigh-side link 1 or the lower leg-side link 2. The thigh posture angle acquisition unit 3 can also be calculated using a sensor capable of detecting the position of the waist U1a of the user U1 with respect to the knee joint U1c of the user U1. The thigh posture angle acquisition unit 3 is, for example, an IMU (inertial measurement unit) or the like.

[0045] The lower leg posture angle acquisition unit 4 can detect, for example, a lower leg posture angle θs as shown, and is, for example, a lower leg posture angle sensor. Figure 3 The lower leg posture angle θs as shown can be detected by the lower leg posture angle acquisition unit 4, and is, for example, a lower leg posture angle sensor. The lower leg posture angle θs is the magnitude of the angle formed by the intersection of the plumb line Z2 and the length direction axis T2 of the lower leg U1d. The plumb line Z2, like the plumb line Z1, is a straight line extending in the direction of gravity (here, the Z-axis direction). It is desirable that the lower leg posture angle acquisition unit 4 be installed to the thigh-side link 1 or the lower leg-side link 2. In a case in which the knee joint U1c of the user U1 is located in front of the waist U1a of the user U1 (here, the positive side of the X-axis direction), the lower leg posture angle θs is a negative value. In a case in which the knee joint U1c is located behind the waist U1a (here, the negative side of the X-axis direction), the lower leg posture angle θs is a positive value.

[0046] The control unit 5 acquires the thigh posture angle θt, the lower leg posture angle θs, and the like, and transmits a control signal to the actuator 6. The control unit 5 is provided with a calculation device 51 and a storage 52.

[0047] The calculation device 51 is provided with a walking state determination unit 51a, a knee bending detection unit 51b, and an assistance force control unit 51c.

[0048] The walking state determination unit 51a estimates the walking state of the user U1 based on the lower leg posture angle θs and the like. As shown in FIG. 2, the walking state determination unit 51a determines the walking state of the user U1 based on the lower leg posture angle θs and the like. Figure 4As shown, user U1's walking state includes a standing phase and a swinging phase, which are alternated repeatedly during walking. Specifically, the walking state determination unit 51a estimates user U1's walking state by constantly comparing the lower leg posture angle θs with the lower leg swing determination threshold ThSw_s and the lower leg standing determination threshold ThSt_s. More specifically, when the lower leg posture angle θs exceeds the lower leg swing determination threshold ThSw_s, the walking state determination unit 51a determines that the walking state has transitioned from the standing phase to the swinging phase. Furthermore, the lower leg swing determination threshold ThSw_s and the lower leg standing determination threshold ThSt_s can be arbitrarily determined, for example, they can be determined in conjunction with user U1's gait. When the lower leg posture angle θs becomes less than the lower leg standing determination threshold ThSt_s, the walking state determination unit 51a determines that the walking state has transitioned from the standing phase to the swinging phase.

[0049] When the knee flexion detection unit 51b is in the support phase of walking, it detects whether the knee is in a flexion state based on the thigh posture angle θt.

[0050] Specifically, such as Figure 5 As shown, in the lumbar flexion state, the thigh U1b tilts backward toward the knee joint U1c. In other words, the knee joint U1c is located in front of the lumbar region U1a in the support phase (in this case, on the positive side in the X-axis direction). The knee flexion detection unit 51b detects knee flexion by detecting that the knee joint U1c is located in front of the lumbar region U1a in the support phase.

[0051] Furthermore, during the swing transition state from the support phase to the swing phase, the thigh U1b tilts forward towards the knee joint U1c. In other words, the knee joint U1c is located behind the waist U1a in the support phase (in this case, on the positive side in the X-axis direction). When the knee flexion detection unit 51b detects that the knee joint U1c is located behind the waist U1a in the support phase, it detects that the state is a swing transition state from the support phase to the swing phase.

[0052] More specifically, the knee folding detection section 51b determines whether the knee joint U1c of the user U1 is located in front of the waist U1a of the user U1 in the support phase based on the thigh posture angle θt. The knee folding detection section 51b determines that the knee joint U1c of the user U1 is located in front of the waist U1a of the user U1 in the support phase when the thigh posture angle θt is equal to or smaller than the thigh swing determination threshold ThSw_t, and detects the knee folding. The knee folding detection section 51b determines that the knee joint U1c of the user U1 is located in back of the waist U1a of the user U1 in the support phase when the thigh posture angle θt exceeds the thigh swing determination threshold ThSw_t, and does not detect the knee folding. The thigh swing determination threshold ThSw_t of the present embodiment is 0 (zero), but the thigh swing determination threshold ThSw_t can be arbitrarily determined, for example, in coordination with the gait of the user U1.

[0053] Further, in a case where the thigh posture angle acquisition section 3 uses a sensor capable of detecting the position of the waist U1a with respect to the knee joint U1c, the knee folding detection section 51b can also detect the knee folding based on the position of the waist U1a of the user U1 with respect to the knee joint U1c of the user U1. For example, in a case where the thigh posture angle acquisition section 3 detects that the knee joint U1c of the user U1 is located in front of the waist U1a of the user U1 in the support phase, the knee folding detection section 51b detects the knee folding.

[0054] The assist force control section 51c adjusts the resistance force provided by the actuator 6 to the rotation of the thigh-side link 1 and the shank-side link 2.

[0055] In a case where the walking state determination section 51a determines that the walking state of the user U1 shifts from the support phase to the swing phase, the assist force control section 51c reduces the resistance force provided to the movement of the knee joint U1c of the user U1. Specifically, the assist force control section 51c reduces the degree of reduction of the resistance force or maintains the resistance force in a case where the knee folding detection section 51b detects the knee folding.

[0056] In other words, the assist force control section 51c changes the resistance force provided by the actuator 6 in accordance with the walking state of the user U1. The control state of the resistance force controlled by the assist force control section 51c includes the assist phase and the free phase.

[0057] The assist phase preferably starts from the middle of the swing phase or the time point at which the shift from the support phase to the swing phase is made and ends at the time point at which the shift from the support phase to the swing phase is made. If the assist phase starts from the middle of the swing phase, the resistance force provided by the actuator 6 can be ensured at the time point at which the shift from the swing phase to the support phase is made, and appropriate assistance of the walking action of the user U1 can be reliably performed, which is good. The free phase preferably starts from the time point at which the shift from the support phase to the swing phase is made and ends at the middle of the swing phase or the time point at which the shift from the swing phase to the support phase is made.

[0058] The assist force control section 51c sets the resistance force provided by the actuator 6 to a predetermined value in the assist phase. This is because, in order to mainly cope with the support phase of the walking state of the user U1, it is appropriate to assist the walking action of the user U1.

[0059] The assist force control section 51c sets the resistance force provided by the actuator 6 to a value lower than the above-described predetermined value or 0 (zero) in the free phase. This is because, in order to mainly cope with the swing phase of the walking state of the user U1, it is appropriate to weaken the assist to the walking action of the user U1 or stop the assist.

[0060] The memory 52 records a predetermined program. The arithmetic device 51 reads and executes the program, and functions as the walking state determination section 51a, the knee bending detection section 51b, and the assist force control section 51c.

[0061] The control section 5 is hardware-constituted with a microcomputer as the center of a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an interface (I / F), and the like. The CPU, the ROM, the RAM, and the interface are connected to each other via a data bus or the like.

[0062] The actuator 6 provides a resistance force to the rotation of the thigh-side link 1 and the calf-side link 2 on the basis of a control signal received from the control section 5. The actuator 6 is, for example, a fluid cylinder or the like.

[0063] (Control method)

[0064] Next, the control method of the walking assist device of Embodiment 1 will be described with reference to Figure 6 and Figure 7 Figure 6 is a flowchart of the control method of the walking assist device of Embodiment 1.

[0065] Figure 7 is a graph showing the change of the calf posture angle θs in an example of the walking action of the user.

[0066] At the time point at which the control of the walking assist device 10 is started, the control state is set to the assist phase. The calf posture angle θs and the thigh posture angle θt at the current time point are acquired (step ST1). Next, the control state at the current time point is confirmed (step ST2).

[0067] If the control state at the current time point is the assist phase (step ST2: assist phase), the calf posture angle θs and the calf swing determination threshold value ThSw_s are compared (step ST31). ​

[0068] In the case where the calf posture angle θs is smaller than the calf swing determination threshold ThSw_s (step ST31: YES), it is determined that the walking state is the support phase, and the control state is maintained as the assist phase. Further, the process proceeds to step ST6.

[0069] On the other hand, in the case where the calf posture angle θs is equal to or greater than the calf swing determination threshold ThSw_s (step ST31: NO), the thigh posture angle θt is compared with the thigh swing determination threshold ThSw_t (step ST4).

[0070] In the case where the thigh posture angle θt is equal to or greater than the thigh swing determination threshold ThSw_t (step ST4: YES), it is determined that the walking state is shifted from the support phase to the swing phase, and the control state is shifted from the assist phase to the free phase (step ST52). Further, the process proceeds to step ST6.

[0071] On the other hand, in the case where the thigh posture angle θt is equal to or greater than the thigh swing determination threshold ThSw_t (step ST4: YES), it is determined that the walking state is shifted from the support phase to the swing phase, and the control state is shifted from the assist phase to the free phase (step ST52). Further, the process proceeds to step ST6.

[0072] On the other hand, if the control state at the current time point is the free phase (step ST2: free phase), the calf posture angle θs is compared with the calf support determination threshold ThSt_s (step ST32).

[0073] In the case where the calf posture angle θs is equal to or greater than the calf support determination threshold ThSt_s (step ST32: NO), it is determined that the walking state is the swing phase, and the control state is maintained as the free phase. Further, the process proceeds to step ST6.

[0074] On the other hand, in the case where the calf posture angle θs is equal to or greater than the calf support determination threshold ThSt_s (step ST32: NO), it is determined that the walking state is the swing phase, and the control state is maintained as the free phase. Further, the process proceeds to step ST6.

[0075] Finally, it is determined whether or not to continue the control of the walking assistance device 10 (step ST6). That is, until the continuation of the control of the walking assistance device 10 is stopped (step ST6: NO), the above-described steps ST1, ST2, ST31, ST32, ST4, ST51, ST52, and ST53 are repeatedly performed.

[0076] Here, a control example of the walking assistance device 10 at predetermined time points P1, P2, P3, and P4 in the walking action of the user U1 shown in Figs. 1 and 2 will be described. Figure 4 and Figure 7 A control example of the walking assistance device 10 at predetermined time points P1, P2, P3, and P4 in the walking action of the user U1 shown in Figs. 1 and 2 will be described.

[0077] At the time point P1, after the calf posture angle θs and the thigh posture angle θt are acquired (step ST1), the control state is the assist phase (step ST2: assist phase), and the calf posture angle θs is smaller than the calf swing determination threshold ThSw_s (step ST31: Yes). Thus, the control state is still the assist phase. At the time point P4, as with the time point P1, the control state of the walking assistance device 10 is still the assist phase.

[0078] At the time point P2, after the calf posture angle θs and the thigh posture angle θt are acquired (step ST1), the walking state is the assist phase (step ST2: assist phase), and the calf posture angle θs is equal to or greater than the calf swing determination threshold ThSw_s (step ST31: No). In a case where the thigh posture angle θt exceeds the thigh swing determination threshold ThSw_t (step ST4: Yes), it is determined that the knee folding does not occur, and the walking state is shifted from the assist phase to the free phase (step ST52). On the other hand, in a case where the thigh posture angle θt is equal to or smaller than the thigh swing determination threshold ThSw_t (step ST4: No), it is determined that the walking state is in the knee folding state, and the control state is still the assist phase (step ST51).

[0079] At the time point P3, after the calf posture angle θs and the thigh posture angle θt are acquired (step ST1), the control state is the free phase (step ST2: free phase), and in a case where the calf posture angle θs is equal to or greater than the calf support determination threshold ThSt_s (step ST32: No), the control state is still the free phase.

[0080] According to the above, the knee folding can be detected in the walking action of the user U1. Thus, the walking action of the user U1 can be appropriately assisted.

[0081] (Other Embodiments)

[0082] Further, the walking assistance device of the above-described embodiments can have the following hardware configuration. Figure 8 is a drawing illustrating an example of a hardware configuration included in a walking assistance device. As explained in the procedures of the processing in the walking assistance device in the various embodiments described above, the present disclosure can also adopt a manner as a processing method.

[0083] Figure 8 The walking assistance device 200 illustrated is provided with an interface 203 and is provided with a processor 201 and a memory 202. The control configuration of the walking assistance device 10 explained in the above-described embodiments (refer to Figure 2 ) is realized by the processor 201 reading and executing the control program stored in the memory 202. That is, the program is a program for causing the processor 201 to function as the walking assistance device 10 or a part thereof.

[0084] The program includes a group of commands (or software code) that, when read by a computer, cause the computer to perform one or more functions described in the embodiments. The program may also be stored on a non-transitory computer-readable medium or a physical storage medium. As non-limiting examples, computer-readable media or physical storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disc storage devices, magnetic cartridges, magnetic tape, disk storage devices or other magnetic storage devices. The program may also be transmitted on a transient computer-readable medium or communication medium. As non-limiting examples, transient computer-readable media or communication media include electrical, optical, acoustic or other forms of propagated signals.

[0085] Furthermore, the present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the spirit of the invention. Additionally, the present invention can also be implemented by appropriately combining the above-described embodiments or examples thereof.

[0086] For example, the walking assistance device 10 may also include a knee angle sensor. The knee angle sensor detects the knee angle θc at the knee joint U1c of the user U1. Figure 3 As shown, the knee angle θc is, for example, the angle formed by the intersection of the length axis T1 of the thigh U1b and the length axis T2 of the lower leg U1d. The walking assistance device 10 can also use the thigh posture angle θt and the knee angle θc to calculate the lower leg posture angle θs. Furthermore, the walking assistance device 10 can also use the lower leg posture angle θs and the knee angle θc to calculate the thigh posture angle θt.

[0087] In addition, the walking assistance device 10 may also include a foot load sensor, a floor reaction force meter, and a joint angle sensor. The walking assistance device 10 may also estimate the walking state based on the data detected by the foot load sensor, the floor reaction force meter, and the joint angle sensor respectively.

Claims

1. A walking assistance device that provides resistance to the user's knee joint movement based on the user's walking status, thereby assisting the user's walking action, wherein, have: The auxiliary force control unit reduces the resistance provided to the user's knee joint movement when it determines that the user's walking state has shifted from the support phase to the swing phase. The thigh posture angle acquisition unit acquires the thigh posture angle formed by the length axis of the user's thigh and the vertical line; and The knee flexion detection unit determines whether the user's knee joint is located in front of the user's waist in the support phase based on the obtained thigh posture angle. Knee flexion is detected by detecting that the user's knee joint is located in front of the user's waist in the support phase. If the thigh posture angle is below the thigh swing determination threshold, the user's knee joint is determined to be located in front of the user's waist in the support phase, and knee flexion is detected. If the thigh posture angle exceeds the thigh swing determination threshold, the user's knee joint is determined to be located behind the user's waist in the support phase, and knee flexion is not detected. When the knee bend detection unit detects a knee bend, the auxiliary force control unit reduces the degree of reduction in resistance or stops the reduction in resistance.

2. The walking assistance device according to claim 1, characterized in that, The thigh posture angle acquisition unit can use a knee position sensor that can detect the position of the user's waist relative to the knee joint.

3. A control method for a walking assistance device, executed within the walking assistance device, wherein the walking assistance device provides resistance to the user's knee joint movement based on the user's walking state, thereby assisting the user's walking action, wherein... The control method comprises: The step of reducing the resistance to movement of the user's knee joint when it is determined that the user's walking state has shifted from the support phase to the swing phase; Obtain the thigh posture angle formed by the length axis of the user's thigh and the vertical line; and Based on the obtained thigh posture angle, it is determined whether the user's knee joint is located in front of the user's waist in the support phase. Knee flexion is detected by detecting that the user's knee joint is located in front of the user's waist in the support phase. If the thigh posture angle is below the thigh swing detection threshold, it is determined that the user's knee joint is located in front of the user's waist in the support phase, and knee flexion is detected. If the thigh posture angle exceeds the thigh swing detection threshold, it is determined that the user's knee joint is located behind the user's waist in the support phase, and knee flexion is not detected. If knee bend is detected during the step of detecting knee bend, in the step of reducing resistance, the degree of reduction of resistance is reduced or the reduction of resistance is stopped.

4. A storage medium storing a control program for a walking aid device, the control program being executed by a computer operating as a computing device in the walking aid device, the walking aid device providing resistance to the user's knee joint movement based on the user's walking state to assist the user's walking actions, wherein... The control program causes the following steps to be performed: The step of reducing the resistance to movement of the user's knee joint when it is determined that the user's walking state has shifted from the support phase to the swing phase; Obtain the thigh posture angle formed by the length axis of the user's thigh and the vertical line; and Based on the obtained thigh posture angle, it is determined whether the user's knee joint is located in front of the user's waist in the support phase. Knee flexion is detected by detecting that the user's knee joint is located in front of the user's waist in the support phase. If the thigh posture angle is below the thigh swing detection threshold, it is determined that the user's knee joint is located in front of the user's waist in the support phase, and knee flexion is detected. If the thigh posture angle exceeds the thigh swing detection threshold, it is determined that the user's knee joint is located behind the user's waist in the support phase, and knee flexion is not detected. If knee bend is detected in the step of detecting knee bend, in the step of reducing resistance, the control program causes to execute: reduce the degree of reduction of resistance or stop the reduction of resistance.

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