2015 年 51 巻 12 号 p. 845-857
Power assist robotic systems and wearable exoskeletons have been studied in various fields such as welfare and medical service. In most of the available studies, researchers have been developed the wearable power assist robots of biped walking type. Some of these are utilized in the welfare and medical services. However, such systems have poor stability during walking. Therefore, paraplegic persons cannot use these systems without extra supportive devices. In this study, we consider the four-legged walking that is characterized by knuckle walking of anthropoidea. This walking can perform stable walking and running with maintaining the upstanding posture. To implement the upstanding walking in walking support system for paraplegic persons, we develop an upstanding four-legged wearable power assist robot specialized for walking support. Finally effectiveness for walking support has been demonstrated by experiments involved with healthy subjects.