Abstract
In this paper, we develop a walking support machine controlled by servo brakes. This machine has a treadmill and a patient support part. The treadmill has an endless belt controlled by a powder brake. The patient support part has a constant force spring and a powder brake. The constant force spring is used in order to provide with partial body weight support. The powder brake, which can control the torque, is used as the device to prevent patient's falling. When a patient normally uses this support machine, the machine provides the patient with partial body weight support. After the machine detected the patient's fall, the machine prevents the fall by applying the impedance control to the powder brakes. The usefulness of this machine is experimentally examined.
