WALKING ASSIST DEVICE AND ITS CONTROLLER, METHOD, AND PROGRAM

PROBLEM TO BE SOLVED: To improve safety when abnormality occurs during walking movement.SOLUTION: A controller 2 is provided for a walking assist device 1 that is mounted on a leg of a user to assist user's walking movement. The controller 2 includes: an abnormality detection section 11 that detects the abnormality of walking movement; a knee angular velocity detection section 12 that detects an angular velocity of a knee joint part 3 in abnormal circumstances; and a torque control section 13 that generates maintenance torque for decreasing the angular velocity when the knee joint part 3 moves in a bending direction, that is a torque proportional to the angular velocity detected by the knee angular velocity detection section 12 in the abnormal circumstances.