抄録
We developed a walking assist machine, which used a spatial parallel link mechanism for the elderly or workers. The flat steps of the assist machine move in parallel with the ground and can support the legs of an equipped person including the soles. The machine can assist the equipped person's motion of walking; turning around during walking and walking on a slope or stairs. Furthermore, in order to support walking more effectively, the machine was improved the power unit, attachment of wearing, and control system. Especially, by using the SH4 board installed ART-Linux, and the lithium-ion battery, we could develop the self-contained machine. Therefore, the equipped person could be free to walk at will.
