As elderly society progresses, development of machines for assisting human to walk is getting more important nowadays. Authors have already developed a cart-type machine to assist walking on a flat ground and have evaluated the effect of this machine on the muscle tension and energy consumption of the user. In this paper, we have estimated the energy consumption during walking on slopes based on the muscle-skeleton model. It is shown that 10% and 15% decreases of energy consumption are achieved by using the assisting cart during gaits up and down slopes, respectively. Our evaluation method will be useful for developing a walker for practical purposes.
