Abstract
In this paper, we analyzed gait motions with a prototype of a walking assist device "Raku-WALK", for evaluation of the device. The Raku-WALK is a three-wheeled walker which can be used in sitting position. Using 9-axis motion sensors, gait motions with the Raku-WALK along a straight path and a circular path were measured and analyzed, when the rear caster of the Raku-WALK is pivotable, or is not pivotable. From the results, when the rear caster is pivotable, rotational motions of the Baku-WALK and the waist, which were different from natural rotation of the waist during normal gait motion, were observed.
