Abstract

We developed a walking assist machine, which machine uses a spatial parallel link mechanism for the elderly or rehabilitants. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. Furthermore, in order to support walking in indoors, we investigated the assist methods of turning around during walking and walking on a slope or stairs. The machine was equipped a gyro sensor and an ultrasonic sensor, the angle of the slope and the size of stairs can be recognized and the machine could control according to the signal of the sensors. As a result of the experiment, the equipped person could turn around during walking and walk in a slope or stairs at will. The subject assisted by the machine was able to walk on a slope up to the angle of plus or minus fifteen degrees.