WALKING ASSIST ROBOT

PROBLEM TO BE SOLVED: To provide a walking assist robot capable of preventing tumble, utilizing remaining freeness, training for a long time without being tired, and performing walking type gait training. SOLUTION: The walking assist robot has a driving part which trains the walking of a care receiver and assists and suppresses the forward, rearward movement and right and left turning of the whole body of the care receiver, a sensor for measuring the movement of the trunk, a sensor for measuring the movement of lower limbs, a sensor for measuring the swing of arms, determines whether the care receiver tumbles from the measuring result of the respective sensors, generates command for preventing "tumble" when determining the tumble, continues the ordinary training when not determining "the tumble", wherein the driving section assists and suppresses the transfer of the whole body to back-forth and right-left turns of the care receiver, and further has a moving part having driving wheels 12W of independent two-wheel driving for assisting and suppressing a part of the swing of a waist, a trunk supporting part 130 for assisting and restraining another part of the swing of the waist and for assisting and suppressing the input by an arm swing input part for inputting the swing of the arms, and a lower limb driving part 140 for assisting and suppressing the movement of the lower limbs around joints of thighs, knees and feet of the care receiver. COPYRIGHT: (C)2011,JPO&INPIT