JP4724059B2 - Walking assist device - Google Patents

Description

  The present invention relates to a walking assistance device that assists a user's walking.

  Conventionally, as this type of walking assist device, a trunk mounting portion to be mounted on a user's trunk and a thigh joint portion connected to the trunk mounting portion via a hip joint portion corresponding to a human hip joint are provided. The thigh attachment part to be attached to the thigh attachment part via the knee joint part corresponding to the human knee joint, and the thigh attachment part to be attached to the lower leg of the user's leg, and the human A foot mounting portion that is connected to an ankle joint corresponding to an ankle joint and is mounted on a user's foot, and a drive source for driving each joint portion is installed coaxially with each joint portion. In addition, an assist moment from the hip joint drive source is applied to the user's thigh via the thigh mounting portion, and an assist moment from the knee joint drive source is applied to the user's lower leg via the lower thigh mounting portion. Furthermore, from the ankle joint drive source via the foot mounting portion on the user's foot By applying an assist moment, that so as to assist the walking has been known (e.g., see Patent Document 1).

  This can assist with all movements of the user's thigh, lower leg, and foot, but on the other hand, the thigh and lower leg are restrained by the thigh attachment part and the lower thigh attachment part, and the sense of binding becomes stronger, and the hip joint part In addition, it is necessary to provide a drive source for each joint of the knee joint and the ankle joint, which increases the cost.

  In order to eliminate such inconveniences, the walking assist device includes a load transmitting unit, a foot mounting unit to be mounted on the user's foot, and a leg link between the load transmitting unit and the foot mounting unit, It is configured to transmit the force generated by the leg link to the user's trunk via the load transmission part, making the leg link free to the user's leg, eliminating the feeling of binding, and via the load transmission part. It is also conceivable to assist the walking by reducing the load acting on the user's leg by the force from the leg link transmitted to the user's trunk. In this case, the leg link is connected to the load transmitting part via the first joint part, and the lower first link part is connected to the foot mounting part via the second joint part. And an intermediate third joint portion for connecting the first link portion and the second link portion so that the distance between the first joint portion and the second joint portion is variable, and driving for driving the third joint portion A load that acts on the user's leg by generating a force in the direction of extending the distance between the first joint and the second joint at the third joint by the drive source. Can be reduced.

Here, the leg link is free with respect to the user's leg, but the leg link on the side of the user's free leg (the leg from which the foot leaves the floor) follows the swinging of the free leg forward. Swing forward with one joint as a fulcrum. When the moment of inertia around the first joint portion of the leg link increases, the user's leg feels heavy due to the moment of inertia of the leg link during walking.
JP 2003-220102 A

  This invention makes it the subject to provide the walking assistance apparatus which reduced the moment of inertia of a leg link and was able to reduce the load which acts on a user's leg in view of the above point.

In order to solve the above problems, the present invention includes a load transmission unit, a foot mounting unit mounted on a user's foot, and a leg link between the load transmission unit and the foot mounting unit, A walking assist device configured to transmit a force generated by a leg link to a user's trunk via a load transmission unit, wherein the leg link is connected to the load transmission unit via a first joint unit. The first link part, the lower second link part connected to the foot attachment part via the second joint part, and the distance between the first joint part and the second joint part is variable. a third joint portion of the intermediate connecting first link part and the second link portion is constituted by a driving source for driving the third joint portion, in the free der shall respect the legs of the other user's foot , load transmitting portion is a seat member which sits astride the user, the first joint portion provided on the lower side of the seating member wearing A guide rail having a longitudinal arc shape in the front-rear direction having a center of curvature above the member is provided, and the center of curvature of the guide rail is configured to be a swinging fulcrum in the front-rear direction of the leg link. It is located above the three joints.

  According to the present invention, the center of gravity of the entire leg link approaches the first joint, and the moment of inertia around the first joint of the leg link is reduced. Therefore, when the user swings the swing leg forward, the load acting on the swing leg due to the moment of inertia of the leg link can be reduced.

  In addition, the center of gravity of the entire leg link is located above the third joint part. This means that the mass of the first link part (the mass including incidental equipment installed in the first link part) is the mass of the second link part (the first link part). It means that it is larger than the mass including incidental equipment installed in the two links. Here, the thigh of a person's leg is heavier than the lower leg. Then, by positioning the center of gravity of the entire leg link above the third joint part, the mass ratio of the first link part and the second link part of the leg link approaches the mass ratio of the thigh and the lower leg of the human leg. It will be. Therefore, the total natural frequency of the user's free leg and the leg link that moves following the user's free leg becomes a value close to the natural frequency of the free leg alone, and there is no sense of incongruity in the operation of the free leg.

  In the present invention, it is desirable that the drive source is installed such that its center of gravity is located above the third joint portion of the first link portion. According to this, even if the mass of the first link portion itself is not intentionally increased, the center of gravity of the entire leg link can be positioned above the third joint portion by the large mass of the drive source. Therefore, the mass of the entire leg link does not increase, and the moment of inertia of the leg link can be rationally reduced.

  Further, when the drive source is composed of an electric motor and a speed reducer, the electric motor and the speed reducer may not be arranged on the same axis due to the limitation on the thickness of the leg link. In this case, it is desirable to install the electric motor at a position above the speed reducer. That is, the electric motor is generally heavier than the speed reducer, and the moment of inertia of the leg link can be effectively reduced by bringing the electric motor installation position above the speed reducer and approaching the first joint portion.

  Hereinafter, a walking assistance device according to an embodiment of the present invention will be described. As shown in FIGS. 1 and 2, the walking assist device includes a seating member 1 that is a load transmission unit on which a user P sits and a pair of left and right feet that are mounted on the left and right feet of the user. A pair of left and right legs connected to the seat members 1 and 2 via the first joint 3 at the upper end and connected to the foot mounting parts 2 and 2 via the second joint 4 at the lower end, respectively. Links 5 and 5 are provided.

  Each leg link 5 is formed of a flexible link that can change the distance between the first joint portion 3 and the second joint portion 4. That is, each leg link 5 is connected to the seat member 1 via the first joint portion 3 and the upper first link portion 6 and each foot mounting portion 2 via the second joint portion 4. The lower second link portion 7 is connected to the lower third link portion 8 so as to be bent and extended. Each leg link 5 is mounted with a drive source 9 for the third joint portion 8, and the first joint portion 3 and the second joint portion are driven by the third joint portion 8 driven by the drive source 9 on each leg link 5. 4. A supporting force for applying at least a part of the weight of the user by applying a force in a direction to extend the distance between the four links, that is, a force in a direction in which each leg link 5 is extended (hereinafter referred to as a weight unloading assist force) Is generated. The weight unloading assist force generated at each leg link 5 is transmitted to the trunk of the user P via the seating member 1, and the load acting on the legs of the user P is reduced.

  The walking assistance device of the present embodiment can be used simply by mounting the foot mounting portion 2 on the foot of the user P and sitting on the seating member 1, and hardly receives a sense of restraint. Moreover, since the 1st joint part 3 and the leg link 5 are located in the user's P inseam, a hand does not hit the 1st joint part 3 or the leg link 5 at the time of arm swing at the time of a walk, and free arm swing is possible become. Furthermore, the device becomes smaller and can be used even in a narrow place, and the ease of use is remarkably improved in combination with the reduction in binding feeling and the securing of freedom of arm swinging.

  The seating member 1 includes a saddle-shaped seat portion 1a on which a user P is seated, and a lower support frame 1b that supports the seat portion 1a. Each first joint portion 3 for each leg link 5 includes an arcuate guide rail 31 that is provided on the lower side of the seating member 1 and is long in the front-rear direction. Each leg link 5 is engaged with the guide rail 31 through a plurality of rollers 62 pivotally attached to a slider 61 fixed to the upper end of the first link portion 6. Thus, each leg link 5 swings in the front-rear direction around the center of curvature of the guide rail 31, and the swing support point in the front-rear direction of each leg link 5 becomes the center of curvature of the guide rail 31.

  With reference to FIG. 1, the center of curvature of the guide rail 31, that is, the swing fulcrum 3 a in the front-rear direction of each leg link 5 in each first joint portion 3 is located above the seating member 1. Here, when the action point of the weight of the upper body of the user P with respect to the seating member 1 is shifted forward of the swinging fulcrum 3a in the front-rear direction of each leg link 5 by the user P tilting the upper body forward, etc. 1 tilts forward. And if the seating member 1 continues inclining as it is, the seating member 1 will shift | deviate back with respect to the user P. FIG. However, in this embodiment, as the seating member 1 tilts forward and downward, the weight action point is displaced rearward below the swinging fulcrum 3a, and the longitudinal distance between the fulcrum 3a and the weight action point decreases. Thus, the rotational moment acting on the seating member 1 is also reduced. When the weight action point is displaced to a position just below the swing fulcrum 3a, the rotational moment acting on the seating member 1 becomes zero, and the seating member 1 is stabilized in this state. Thus, since the seating member 1 automatically converges to a stable state, the seating member 1 can be prevented from shifting in the front-rear direction at the crotch of the user P.

  Further, the slider 61 at the upper end of each leg link 5 is a line connecting the third joint portion 8 of each leg link 5 and the swing fulcrum 3a of each leg link 5 (the center of curvature of the guide rail 31). Is also engaged with the portion of the guide rail 31 located rearward. As a result, it is possible to ensure a forward swinging stroke of each leg link 5 following the forward swinging of each leg of the user P without increasing the length of the guide rail 31 to the left.

  Further, the guide rails 31 for the left and right leg links 5 are pivotally supported on the support frame 1b of the seating member 1 via the support shaft 32 in the front-rear direction. Accordingly, the guide rails 31 are connected to the seating member 1 so as to be swingable in the lateral direction, and the leg links 5 are allowed to swing in the lateral direction, and the legs of the user P are turned outward. become able to.

  Each foot mounting portion 2 includes a shoe 21 and a connecting member 22 protruding upward from the shoe 21, and the second link portion 7 of each leg link 5 is connected to the second joint portion 4 on the connecting member 22. It is connected through. The second joint portion 4 is configured in a three-axis structure having a first shaft 41 in the lateral direction, a second shaft 42 in the vertical direction, and a third shaft 43 in the front-rear direction. A biaxial force sensor 44 is incorporated in the second joint portion 4. Here, the weight unloading assist force is obtained by oscillating the fulcrum 3a in the front-rear direction of the leg link 5 in the first joint portion 3 and the swaying in the front-rear direction of the leg link 5 in the second joint portion 4 as viewed from the side. It acts on a line (hereinafter referred to as a reference line) L connecting the first axis 41 that is a moving fulcrum. The force sensor 44 detects the actual body weight assist force acting on the reference line L (more precisely, the resultant force of the body weight assist force and the force due to the weight of the seating member 1 and each leg link 5). Calculation is based on the detected value of the force in the biaxial direction.

  Also, as shown in FIG. 1, before and after detecting the load acting on the mid-joint joint (MP joint) portion and the heel portion of the foot of the user P on the lower surface of the insole 23 provided in the shoe 21 A pair of pressure sensors 24, 24 are attached. Then, based on the detection values of the pressure sensors 24, 24 of each foot mounting portion 2, the ratio of the applied load of each foot to the total load acting on both feet of the user is calculated, and a preset weight A value obtained by multiplying the set value of the unloading assist force by the load ratio of each foot is set as a control target value of the weight unloading assist force to be generated at each leg link 5, and is calculated based on the detection value of the force sensor 44. The drive source 9 is controlled so that the actual weight-free load assist force becomes the control target value.

  Here, although the drive source 9 is disposed on the leg link 5, since the drive source 9 is heavy, it is between the drive source 9 and the swing fulcrum 3 a of the first joint 3 in the front-rear direction of the leg link 5. The distance between the center of gravity of the entire leg link 5 including the drive source 9 and the swing fulcrum 3a also increases. As a result, the moment of inertia of the leg link 5 around the oscillating fulcrum 3a increases, and the moment of inertia of the leg link 5 is increased when the user's P swinging leg (the leg from which the foot leaves the floor) is swung forward. As a result, the load acting on the free leg increases. Therefore, in the present embodiment, the driving source 9 is arranged so that its center of gravity is positioned above the third joint portion 8 of the first link portion 6, and the center of gravity of the entire leg link 5 including the driving source 9 is It is located above the third joint portion 8. According to this, the distance between the center of gravity of the entire leg link 5 and the swing fulcrum 3a is shortened, the moment of inertia of the leg link 5 around the swing fulcrum 3a is reduced, and this acts on the free leg of the user P. To reduce the load.

  Further, positioning the center of gravity of the entire leg link 5 above the third joint portion 8 means that the mass of the first link portion 6 is larger than the mass of the second link portion 7. Here, the thigh of a person's leg is heavier than the lower leg. Then, by positioning the center of gravity of the entire leg link 5 above the third joint portion 8, the mass ratio between the first link portion 6 and the second link portion 7 of the leg link 5 is increased between the thigh and the lower leg of the human leg. It approaches the mass ratio. The length ratio between the first link part 6 and the second link part 7 is substantially equal to the length ratio between the thigh and the lower leg of a human leg. Therefore, the total natural frequency of the user's free leg and the leg link 5 that moves following the user's free leg becomes a value close to the natural frequency of the free leg alone, and there is no sense of incongruity in the operation of the free leg.

  In the present embodiment, the drive source 9 includes an electric motor 91 and a planetary gear type speed reducer 92. In this case, it is also conceivable that the electric motor 91 and the speed reducer 92 are arranged coaxially by being positioned near the upper end of the first link portion 6. However, the lateral thickness of the leg link 5 is limited to avoid interference with the legs of the user P. If the electric motor 91 and the speed reducer 92 are arranged on the same axis, the arrangement of the drive source 9 is limited. The thickness of the part may exceed the thickness limit of the leg link 5, and the drive source 9 may hit the leg of the user P. Therefore, in the present embodiment, the electric motor 91 and the speed reducer 92 are arranged in the first link portion 6 so that the electric motor 91 is positioned above the speed reducer 92. According to this, the electric motor 91 that is heavier than the speed reducer 92 comes closer to the swing fulcrum 3a, and the moment of inertia of the leg link 5 around the swing fulcrum 3a can be effectively reduced.

  The third joint portion 8 is driven by the electric motor 91 via the speed reducer 92 and the power transmission mechanism 10. This will be described in detail with reference to FIG. The third joint portion 8 is configured to pivotally attach the upper end portion of the second link portion 7 to the lower end portion of the first link portion 6 via a lateral joint shaft 81. The power transmission mechanism 10 includes a first crank arm portion 101 provided on the output side of the speed reducer 92, a second crank arm portion 102 integrated with the second link portion 7 extending above the joint shaft 81, and both cranks. It is comprised with the rod 103 which connects the arm parts 101 and 102. FIG. According to this, the rotation output of the speed reducer 92 is transmitted to the second crank arm portion 102 via the first crank arm portion 101 and the rod 103, and the second link portion 7 is connected to the first link portion 6 with the joint shaft. The leg link 5 is bent as shown in FIG. 4 from the extended state shown in FIG.

  By the way, if the leg link 5 is bent while the leg of the user P is straightly extended, the third joint portion 8 projects forward from the knee joint of the user P, and the user P feels uncomfortable. give. Therefore, in the state where the legs of the user P are straightly extended, as shown in FIG. 1, the joint shaft 81 of the third joint portion 8 is positioned on the reference line L, and the bending angle of the third joint portion 8 is set. It is desirable that θ be 0 °, that is, the leg link 5 be extended.

  Here, when the leg link 5 is a simple flexion / extension link, the length of the line segment connecting the swing fulcrum 3a of the leg link 5 in the first joint portion 3 and the first shaft 41 of the second joint portion 4 is set to the first length. The expansion / contraction speed of the leg link 5 differentiated by the bending angle θ of the three joint portions 8 becomes 0 when the bending angle θ becomes 0 °. Therefore, when the bending angle θ becomes 0 °, the controllability in the direction in which the leg link 5 is extended, that is, the direction in which the seating member 1 is pushed up is lost. Therefore, even if the user P shifts from the standing state with both legs to the standing state with one leg and the weight-loading assisting force to be generated at the leg link 5 on the standing side increases, the standing leg is straightened. When the bending angle θ of the third joint portion 8 of the leg link 5 on the standing leg side is 0 °, the weight unloading assist force cannot be appropriately controlled.

  Therefore, in the present embodiment, a cylindrical upper half 71 that connects the second link portion 7 of the leg link 5 to the third joint portion 8, and a lower half that is slidably inserted and supported by the upper half 71. Further, an interlocking mechanism 11 that contracts and expands the second link portion 7 in conjunction with the increase and decrease of the bending angle θ of the third joint portion 8 is provided. The interlocking mechanism 11 is also zero when the expansion / contraction speed of the second link portion 7 obtained by differentiating the length of the second link portion 7 with respect to the bending angle θ of the third joint portion 8 sets the bending angle θ to 0 °. It is configured not to be.

  According to this, the expansion / contraction speed of the leg link 5 does not become 0 even when the bending angle θ is 0 °. Therefore, even when the bending angle θ becomes 0 °, the controllability in the direction in which the seating member 1 is pushed up is not lost, and the body weight assisting force can be appropriately controlled according to the load change. As a result, it is possible to allow the bending angle of the third joint portion 8 to be 0 ° in a state where the leg of the user P is straightened, that is, the leg link 5 is in the extended state. Can be used without feeling uncomfortable. The lower half 72 can be adjusted to an arbitrary length by a lock nut 73, and the leg link length can be adjusted according to the length of the leg of the user P.

  Here, an expansion / contraction drive source for the second link part 7 that moves the lower half part 72 of the second link part 7 up and down relative to the upper half part 71, and a sensor that detects the bending angle θ of the third joint part 8 are provided. It is also possible to configure the interlocking mechanism so that the lower half portion 72 of the second link portion 7 is moved up and down by operating the expansion / contraction drive source by a signal from the sensor. However, this increases the cost and increases the total weight of the leg links due to the influence of the expansion / contraction drive source. Therefore, in the present embodiment, the rotational motion around the third joint portion 8 of the upper half portion 71 of the second link portion 7 relative to the first link portion 6 is converted into the linear motion of the lower half portion 72 of the second link portion 7. The interlocking mechanism 11 is constituted by a mechanical mechanism, so that the cost can be reduced and the increase in the total weight of the leg links 5 can be suppressed to a low level.

  More specifically, the interlocking mechanism 11 includes a first interlocking link 112 having one end pivotally attached to the upper half 71 of the second link part 7 by a shaft 111 and a lower half of the second link part 7 having an end 113 by a shaft 113. The second interlocking link 115 is pivotally attached to the part 72, the other end is pivotally attached to the other end of the first interlocking link 112 by the shaft 114, and the other end is pivotally attached to the first link part 6 by the shaft 116. The link mechanism is composed of a third interlocking link 118 pivotally attached to an intermediate portion of the first interlocking link 112 by an axis 117. According to this, the third joint portion of the upper half 71 of the second link portion 7 with respect to the first link portion 6 is a quadrangular shape connecting the joint shaft 81, the shaft 111, the shaft 117, and the shaft 116 of the third joint portion 8. The shaft 111 is deformed by the displacement of the shaft 111 due to the rotational movement about eight, and along with this deformation, the angle formed by the line segment connecting the shaft 114 and the shaft 111 and the line segment connecting the shaft 114 and the shaft 113 changes. The distance between the shaft 111 and the shaft 113 changes, and the lower half 72 of the second link portion 7 moves linearly in the longitudinal direction (vertical direction) with respect to the upper half 71. When the bending angle θ of the third joint portion 8 decreases, as shown in FIG. 1, the lower half portion 72 moves downward to increase the length of the second link portion 7, and the bending angle θ increases. At this time, as shown in FIG. 4, the lower half 72 moves upward and the length of the second link portion 7 decreases. Note that the interlocking mechanism 11 can be configured not only by the link mechanism of the present embodiment but also by a cam mechanism or a rack and pinion mechanism.

  By the way, if the 1st joint part 3 is comprised in what is equipped with the arc-shaped guide rail 31 as mentioned above, the space between the guide rails 13 will be produced under the seating member 1. Therefore, in order to make effective use of this space, the battery 12 for the drive source 9, the controller 13, the motor driver 14, and the like so as to fit in the space between the support frame 1 b of the seating member 1 and the guide rail 31. Is arranged.

  Here, in order to reduce the moment of inertia around the swing fulcrum 3a in the first joint portion 3 of the leg link 5, it is expected that the drive source 9 which is a heavy object is disposed at a height position higher than the third joint portion 8. In the present embodiment, as described above, the drive source 9 is disposed above the third joint portion 8 of the first link portion 6. Further, the battery 12 which is a heavy object is also disposed on the seating member 1 higher than the third joint portion 8. Thus, when the drive source 9 and the battery 12 are arranged at a high position, the first link of the second joint portion 4 is attached to the leg link 5 by the weight of the drive source 9 and the battery 12 in a state where the user P is standing upright. A tilting moment in the front-rear direction around the shaft 41 is likely to occur, and a pressing force in the front-rear direction acts on the seating member 1 due to this tilting moment.

  Therefore, in the present embodiment, the state of the leg link 5 when the user P stands upright is the reference state (the state shown in FIG. 1), and the driving source 9 and the battery 12 that are heavy objects are in the reference state of the leg link 5. A vertical and laterally parallel plane passing through the first axis 41 of the second joint portion 4, that is, a frontal plane (this frontal plane substantially coincides with the reference line L in the present embodiment) is located before and after the drive source 9. It is arranged so as to pass through in the direction width and in the front-rear direction width of the battery 12. According to this, the offset distance in the front-rear direction between the center of gravity of the drive source 9 and the center of gravity of the battery 12 with respect to the front frame is shortened. Therefore, in the reference state of the leg link 5, the tilting moment in the front-rear direction around the first shaft 41 of the second joint portion 4 generated in the leg link 5 due to the weight of the drive source 9 and the battery 12 is reduced. As a result, in the state where the user P stands upright, the pushing force in the front-rear direction acting on the seating member 1 due to this tilting moment is reduced, and the stability is improved.

  Although the battery 12 can be arranged on the first link portion 6 of the leg link 5, if the battery 12 is arranged on the seating member 1 as in this embodiment, the mass of the battery 12 on the leg link 5 is increased. Since it is not added, the moment of inertia of the leg link 5 can be reduced as much as possible, which is advantageous.

  As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to this. For example, in the above embodiment, the electric motor 91 and the speed reducer 92 that constitute the drive source 9 are both arranged in a portion above the third joint portion 8 of the first link portion 6. The electric motor 91 may be arranged on a portion above the third joint portion 8 of the first link portion 6 by being arranged coaxially with the three joint portions 8. Also in this case, the total center of gravity of the electric motor 91 and the speed reducer 92, that is, the center of gravity of the drive source 9 is located in a portion above the third joint portion 8 of the first link portion 6.

  Moreover, in the said embodiment, although each leg link 5 is comprised by the bendable-extendable link which has the rotation-type 3rd joint part 8 in the middle, the telescopic link which has a direct-acting 3rd joint part. A leg link may be configured. Furthermore, in the said embodiment, the 1st joint part 3 is comprised in what has the arc-shaped guide rail 31, and the rocking | fluctuation fulcrum 3a of the front-back direction of each leg link 5 in the 1st joint part 3 is the seating member 1. The first joint portion 3 is constituted by a joint portion having a simple structure having a lateral axis that pivotally supports the upper end portion of each leg link 5 so as to be swingable in the front-rear direction. Is also possible. In addition, it is possible to configure the load transmitting portion with a harness that is worn around the waist of the user. Further, since one leg assists a user who is inconvenient due to a fracture or the like, It is possible to omit the other leg link while leaving only the leg link on the leg side which is inconvenient to the user among the leg links 5 and 5.

The side view of the walking assistance apparatus of embodiment of this invention. The front view of the walk auxiliary device of an embodiment. The perspective view of the 3rd joint part vicinity of the leg link of the walking assistance apparatus of embodiment. The side view when the leg link of the walking assistance apparatus of embodiment is bent.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Seating member (load transmission part), 2 ... Foot mounting part, 3 ... 1st joint part, 4 ... 2nd joint part, 5 ... Leg link, 6 ... 1st link part, 7 ... 2nd link part, 8 ... 3rd joint part, 9 ... Drive source, 91 ... Electric motor, 92 ... Reduction gear.

Claims (3)

A load transmission unit, a foot mounting unit to be mounted on the user's foot, and a leg link between the load transmission unit and the foot mounting unit, the force generated by the leg link being transmitted via the load transmission unit. A walking assistance device adapted to transmit to the user's trunk,
The leg link includes an upper first link portion connected to the load transmitting portion via the first joint portion, a lower second link portion connected to the foot attachment portion via the second joint portion, An intermediate third joint that connects the first link and the second link so that the distance between the first joint and the second joint is variable, and a drive source that drives the third joint. is composed, in the free der shall respect to the leg other than the user's foot,
The load transmission part is a seating member that is seated so that the user straddles it,
The first joint portion is provided on the lower side of the seating member and includes a longitudinally arcuate guide rail having a center of curvature above the seating member, and the center of curvature of the guide rail is a swinging fulcrum in the front-rear direction of the leg link. Configured to be
A walking assist device, wherein the center of gravity of the entire leg link is located above the third joint.   The walking assist device according to claim 1, wherein the driving source is installed so that a center of gravity thereof is located in a portion above the third joint portion of the first link portion.   The walking assist device according to claim 2, wherein the drive source includes an electric motor and a speed reducer, and the electric motor is installed at a position above the speed reducer.

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