JP6809785B2 - Walking support machine - Google Patents

Description

The present invention relates to a walking support machine.

The present inventors have a waist-mounted member mounted on the user's waist and a first link portion arranged on the side of the user's thigh as an effective walking support machine for a person suffering from a leg. , The first rotation support portion that rotatably supports the waist mounting member and the first link portion, the thigh mounting member mounted on the thigh or lower leg of the user, the thigh mounting member, and the first. Proposing a walking support machine including a second rotation support portion that rotatably supports the link portion, wherein the first link portion is composed of a plurality of rod-shaped members (Patent Document 1).

Such a walking support machine is a walking support machine used by being worn on the waist, and is mainly a device that provides light assist to assist a person with weak walking ability such as hemiplegia to walk naturally. is there. Therefore, when it is used for the purpose of reducing the physical burden of heavy labor such as carrying luggage for healthy people, or for the purpose of assisting mountain roads, etc., the assist power is small and the assist direction is constant. It was less effective because it was only directional.

Since it is possible to move the legs by the muscles for assisting a healthy person, the assist that the user wants differs depending on the way the muscles are attached, and the assist that the user wants also differs depending on the purpose of use. In some cases. For example, when climbing a mountain, a normal mountaineer has little muscular reserve in the action of raising the thigh, which becomes a bottleneck and tends to cause fatigue. In this case, it is considered effective to assist the hip joint in the flexion direction. On the other hand, advanced mountaineers have sufficient muscular strength to raise the thighs, and have learned how to walk without raising the thighs significantly. Many people have extra muscular strength. For such advanced mountaineers, assisting in the extension direction may contribute to reducing fatigue rather than assisting the movement of raising the thigh.

Japanese Patent Application No. 2014-164843

Therefore, the present invention has been made in view of these problems, and an object of the present invention is to provide a walking support machine capable of adjusting the generation range of the urging force and changing the direction of the urging force.

The present invention has adopted the following means in order to achieve the above-mentioned object.

The walking support machine of the present invention includes a first link portion arranged on the side of the user's thigh, a support portion fixed directly or indirectly to the body, and the first link portion with respect to the support portion. The first rotary support portion having a torque generator that rotatably supports the link portion and can switch the first link portion to forward urging or backward urging, and the first link portion. It is characterized in that it includes a thigh-mounted member that is directly or indirectly provided and is mounted on the thigh or lower leg of the user. According to the walking support device according to the present invention, it is possible to switch the assist direction between the direction in which the hip joint is flexed and the direction in which the hip joint is extended, that is, the direction in which the leg is carried forward and the direction in which the leg is carried backward. .. Therefore, it is possible to assist in the required direction according to the user.

Further, in the walking support machine according to the present invention, the torque generator may be characterized by having an angle adjusting member capable of adjusting the angle with respect to the support portion. By adopting such a configuration, the range in which the urging force is generated by the angle adjusting member can be changed. This makes it possible to assist at the optimum position according to the user. In addition, the assist position can be changed even while walking while wearing the walking support device.

Further, in the walking support machine according to the present invention, the first rotation support portion may be characterized in that a plurality of torque generators are provided. By providing a plurality of torque generators on the first rotation support part, a strong rotational force can be obtained and the first link part can be moved with a stronger force, which can provide optimal assistance to a healthy person. it can.

Further, in the walking support machine according to the present invention, the plurality of torque generators may be characterized in that their mounting angles can be changed. By adjusting the mounting angles of the plurality of torque generators separately, the torque characteristics and the assist range can be adjusted.

Further, in the walking support machine according to the present invention, the torque generator may be provided with an angle sensor. By providing such an angle sensor, various data processing can be performed by logging the operating angle, stride assist force, assist range, direction setting, etc. of the user during walking.

Further, in the walking support machine according to the present invention, at least a part of the support portion may be an elastic member. By adopting such a configuration, when a force is applied to the first rotation support portion itself, the position can be changed or the leg can be moved in a twisting direction, so that there is a slight difference in leg movement depending on the user. It will be possible to correspond.

Further, in the walking support machine according to the present invention, the thigh mounting portion may be characterized in that the thigh contact portion is arranged on the front side of the thigh. By adopting such a configuration, the assist force can be transmitted to the legs more efficiently.

According to the walking support machine according to the present invention, it is possible to provide a walking support machine capable of adjusting the generation range of the urging force and changing the direction of the urging force.

FIG. 1 is a front perspective view showing an outline of the configuration of the walking support device 100 according to the embodiment. FIG. 2 is an exploded perspective view showing an outline of the configuration of the first rotation support portion 20 of the walking support machine 100 according to the embodiment. FIG. 3 is a side view showing an outline of the configuration of the first rotation support portion 20 of the walking support machine 100 according to the embodiment. FIG. 4 is a schematic view showing a rotating plate 21 of the walking support machine 100 according to the embodiment. FIG. 5 is a side view showing an outline of the configuration of the first rotation support portion 20 of the walking support machine 100 according to the embodiment. FIG. 6 is a partial perspective view showing the thigh-mounted member 50 of the walking support device 100 according to the embodiment. FIG. 7 is a schematic view showing a usage state of the walking support device 100 according to the embodiment.

Hereinafter, the walking support machine 100 according to the embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that the embodiments and drawings described below exemplify a part of the embodiments of the present invention, and are not used for the purpose of limiting to these configurations. The corresponding components in each figure are designated by the same or similar reference numerals. The walking support machine 100 of the present invention may be for both legs or for one leg, but the walking support machine 100 for one leg uses only one of the walking support machines 100 for both legs. Since the difference is only the attachment, the explanation of the walking support machine 100 for both legs will be replaced with the explanation of the walking support machine 100 for one leg. Further, since the right leg and the left leg are symmetrical, the walking support for the right leg is explained by explaining the walking support machine 100 for the left leg that is used by being attached to the left leg of the user. Instead of the explanation of the machine 100.

FIG. 1 is a perspective view of the walking support device 100 according to the first embodiment. As shown in FIG. 1, the walking support machine 100 of the present embodiment mainly has a support portion 10 fixed directly or indirectly to the body, a first link portion 30, and a first link to the support portion 10. It has a first rotation support portion 20 that rotatably supports the portion 30, and a thigh mounting member 50 that is mounted on the thigh portion. FIG. 1 shows a pair of left and right walking support machines 100 and a backpack carrier 90 to which the walking support machine 100 is attached.

The support portion 10 has a function as a fixed side of the first rotation support portion 20, a so-called fulcrum, when the first rotation support portion 20 generates torque to rotate the first link portion 30. As shown in FIG. 2, the support portion 10 includes a fixing portion 11 fixed to the body, a backpack carrier, or the like, a base portion 12 serving as a base to which the first rotation support portion 20 is attached, and these fixing portions 11 and the base portion 12. It is manufactured in combination with a cushioning member 13 made of an elastic member arranged between the two. The fixing portion 11 has a function of being directly or indirectly attached to the body to fix the position of the entire supporting portion 10. In the first embodiment, an example of being fixed to the backpack carrier 90 is shown. The base portion 12 is a member to which the first rotation support portion 20, which will be described later, is attached. As shown in FIG. 2, a rotation shaft 12a is provided at a substantially center in order to rotatably support the angle adjusting member 60 described later, and an arc shape is provided around the rotation shaft 12a in order to secure the rotation of the angle adjusting member 60. An angle scale 12c for grasping the angle of the angle adjusting member 60 is provided on the circular arc portion 12b and the outer peripheral side of the arc portion 12b. The cushioning member 13 is made of plastic, metal, or other elastic member, and has a form capable of being twisted, stretched, or shortened to a certain degree while having rigidity. The cushioning member 13 is formed to be bent in order to be able to cope with stretching, compression, etc. in the longitudinal direction. The fixing portion 11, the base portion 12, and the cushioning member 13 are each fixed by the screwing member 95. The fixing portion 11 and the cushioning member 13 are provided so as to be attached to a plurality of different positions so that their positions can be adjusted in order to arrange the first rotation support portion 20 on the side of the greater trochanter of the user. ing.

A reaction force corresponding to the torque applied by the first rotation support portion 20 to rotate the first link portion 30 is applied to the support portion 10. Therefore, the support portion 10 needs to be supported and fixed with a force that is not defeated by this reaction force. On the other hand, if the first rotation support portion 20 is completely fixed to the extent that there is no rattling, the first link portion 30 may become difficult to move in accordance with the movement of the legs. That is, there is a possibility that it will not be possible to cope with a slight twist or the like when the foot is carried by moving only in the front-back direction. Therefore, the support portion 10 is manufactured by combining the fixing portion 11, the base portion 12, and the cushioning member 13 fixed between the fixing portion 11 and the base portion 12, and the support portion 10 has a cushioning function. It has an elastic function. As a result, the cushioning member 13 can be slightly twisted or stretched to follow the complicated movements of the legs. On the other hand, when it is fixed with a waist belt or the like as in the conventional case, the belt itself moves or deforms because it is loosely fixed to the waist, and the first rotation support portion 20 easily moves greatly. The force may not be effectively transmitted to the link portion 30. Therefore, the fixing portion 11 ensures that the legs are firmly fixed, and the cushioning member 13 makes it possible to follow the movement of the legs by appropriately twisting and bending. The portion where the fixing portion 11 is fixed is not particularly limited, but it is preferably attached to the upper body or a member attached to the upper body (for example, a backpack carrier, protective clothing containing metal, etc.). More preferably, it is attached at least above the navel. This is because the distance from the first rotation support portion 20 can be secured by attaching it above the navel, the base portion 12 can be supported with a weaker force, and the force applied to the upper body can be reduced. When directly attached to the body, for example, a method of providing a chest belt on the extension portion and winding the belt around the chest to fix it can be considered. Further, as an example of a member indirectly attached to the upper body, it is conceivable to attach it to a backpack carrier, a firefighter's cylinder, protective clothing containing metal, or the like. Of course, the present invention is not limited to these, and may be installed in other places.

As shown in FIG. 1, the first rotation support portion 20 is a member for applying torque to the first link portion 30 to rotate it. As shown in FIG. 2, the first rotation support portion 20 is mainly manufactured by two torque generators 29. The torque generator 29 includes a substantially disk-shaped rotating plate 21, an outer housing 22 for arranging the rotating plate 21 inside so as to be rotatable, and an urging force generator 24 provided on the outer housing 22. , Is equipped.

As shown in FIG. 3, the rotary plate 21 is formed in a disk shape, and a mounting hole is provided at a substantially center thereof. The outer housing 22 is formed by a fixing screw member 91 using the mounting hole. It is mounted rotatably inside. As shown in FIG. 4, the rotating plate 21 has a protrusion 21a protruding laterally from a part of the side surface, and is line-symmetric with respect to a line C connecting the tip and the center of the protrusion 21a. It is formed. The outer circumference is formed in an eccentric circle that becomes longer as the distance from the center approaches the protrusion 21a. That is, the line segment D, the line segment E, and the line segment F are formed to be longer in this order. The rotating plate 21 is provided with a plurality of screw holes 21b, and is fixed to the angle adjusting member 60 described later.

As shown in FIG. 2, the outer housing 22 has a recess in which the rotating plate 21 can be accommodated, and the first link mounting portion 23 for fixing the first link portion 30 and the outer housing 22 are around the recess. Is provided with an urging force generating device 24 that urges the housing in a constant rotation direction.

As shown in FIG. 2, the first link mounting portion 23 can tighten the two first link portion insertion holes 23a into which the first link portion 30 is inserted and the two first link portion insertion holes 23a. It has a tightening piece 23d and a tightening bolt 23e. The first link portion 30 is fixed to the first link attachment portion 23 by inserting it into the first link portion insertion hole 23a and then tightening it with a tightening bolt 23e. The method of attaching the first link portion 30 shown here is merely an example, and the attachment method is not particularly limited and may be fixed by another method. The first link portion insertion hole 23a of the first link attachment portion 23 may be formed in a hole having a length (depth) greater than or equal to the length required for fixing. By adopting such a configuration, the length of the first link portion 30 can be adjusted by the insertion amount of the rod-shaped member constituting the first link portion 30.

As shown in FIG. 2, the urging force generator 24 is provided so as to extend substantially downward from the outer housing 22 with the walking support device 100 attached to the body. As shown in FIG. 3, the urging force generating device 24 includes a tubular member 24a and a compression spring 24c built in the tubular member 24a. The compression spring 24c includes a pressing portion 24b provided with a roller at the tip thereof, and presses the peripheral surface of the rotating plate 21. Since the rotating plate 21 is formed eccentrically as described above and is formed so that the radius gradually increases from the position of the radius D to the position of the radius F, the rotating plate 21 rotates in the direction of the arrow α. As the plate 21 rotates and moves, the compression spring 24c is compressed and elastic energy is stored. Therefore, the rotating plate 21 is urged in the direction opposite to the arrow α. Actually, since the rotating plate 21 is fixed to the waist portion of the body via the base portion 12 so as not to rotate, the outer housing 22 side is an arrow when the walking support device 100 is attached to the body. It is urged in the direction of β, and the first link portion 30 is urged to assist the leg. Further, as shown in FIG. 5, the position of the urging force generator 24 is further moved to move beyond the protrusion 21a to the opposite side of the line C, so that the outer housing 22 side is urged in the direction of the arrow γ. The first link portion 30 is urged in the opposite direction.

As shown in FIG. 2, the torque generator 29 produced in this way is attached via the angle adjusting member 60 so that one each is symmetrically arranged on each side with respect to the base portion 12. The torque generators 29 attached to both sides have a symmetrical shape. The angle adjusting member 60 and the torque generator 29 are fixedly attached so as not to be movable. One of the angle adjusting members 60 is provided with a lever portion 61 that can be gripped by the operator for easy operation. The angle adjusting member 60 is fixed so as to be sandwiched by bolts 93 or the like from both sides of the base portion 12. At this time, the bolt is arranged so as to pass through the arc portion 12b. The fixing force at this time has an appropriate frictional force that does not move by withstanding the reaction force assisted by the walking support machine 100, and the user operates the lever portion 61 with respect to the base portion 12 of the torque generator 29. It can be installed with enough strength to change the angle. Therefore, the torque generator 29 fixedly attached to the angle adjusting member 60 does not move without operating the walking support device 100 during use, but the user himself moves the lever portion 61 to center the torque generating device 29. It can be rotated around the axis. The angle adjusting member 60 is provided with a pointer portion 64 that points to the angle scale 12c so that the current angle can be known. As shown in FIG. 2, the torque generator 29 may incorporate various sensors such as an angle sensor or an inclination sensor.

The first link portion 30 is a transmission member that transmits force to the thigh mounting member 50, and is mainly arranged on the outer side of the thigh portion of the leg when the walking support device 100 is attached to the body. In the present embodiment, as shown in FIG. 1, the first link portion 30 is formed by arranging two elastic rod-shaped members in parallel or substantially parallel to the front and back. Of course, the present invention is not limited to this, and the first link portion 30 may be formed of a large metal plate or the like. By using two elastic rod-shaped members, each rod-shaped member can be individually curved, so that it is possible to more easily buffer against twisting and pressing. That is, when carrying a heavy object or climbing a slope, the place and part of the burden applied to each person's legs are slightly different, but this difference can be further buffered. Examples of the material of the rod-shaped member include synthetic resins such as polypropylene and polyethylene, and fiber reinforced plastics (FRP) such as carbon fiber reinforced plastics (CFRP). As the cross-sectional shape of the rod-shaped member, various cross-sectional shapes such as a quadrangle, a triangle, and a circle can be used. Further, a hollow tubular member (pipe-shaped member) may be used. It is preferable to use pipe-shaped CFRP because it may come into direct contact with the user, has the same bending elasticity in any bending direction, and the elasticity can be easily adjusted. The two rod-shaped members have different physical characteristics such as elastic force and torsional rigidity of the two rod-shaped members by using rod-shaped members having different thicknesses or using rod-shaped members made of different materials. You may use it. As described above, according to the walking support machine 100 in the present embodiment, the rigidity, twist, curvature, etc. of the first link portion 30 can be adjusted more finely. Further, the two rod-shaped members may be arranged non-parallel. For example, it may be arranged so that the distance on the upper side (first rotation support portion 20 side) is narrow and the distance on the lower side (second rotation support portion 40 side) is wide, or vice versa.

As shown in FIG. 6, the thigh mounting member 50 is passed through a thigh contact portion 54 made of plastic, cloth, etc., which is applied to the thigh, and a through hole 54a formed in the thigh contact portion 54, and the thigh portion. A thigh-mounted belt 55 (see FIG. 7) to be wound around the thigh and a erection member 53 for arranging the thigh contact portion 54 on the front side of the thigh portion of the thigh are provided, and the tip of the first link portion 30 is provided. Attached to. When the thigh contact portion 54 is arranged on the front side and the thigh attachment belts 55 are arranged on both ends of the thigh contact portion 54 to assist in the bending direction of the thigh, the thigh contact portion 54 is pulled at both ends. Therefore, when assisting in the direction of extending the thigh, the thigh contact portion 54 assists the push. By adopting such a configuration, it is possible to make it difficult to feel the oppressive feeling of the thigh-mounted belt wrapped around the thigh, and because it fits on the thigh, it is easy to follow the leg without shifting to the side. Can be done. In addition, even if the assist direction is switched, there is no loss due to misalignment, and the assist force can be efficiently transmitted to the legs.

As shown in FIG. 1, the walking support machine 100 thus produced is used with one for the right leg and one for the left leg attached to both sides of the backpack carrier 90. Walking support machine. As shown in FIG. 7, each first rotation support portion 20 is adjusted and attached so as to be arranged on the side of the greater trochanter of the user.

The walking support device 100 attached to the user in this way operates as follows. First, an assist for moving the thigh forward, that is, an assist in the direction of flexing the hip joint will be described. When the user walks, the leg to which the walking support device 100 is attached repeats the support leg and the swing leg. In the walking support machine 100, the first link portion 30 moves along the thigh portion and moves in accordance with the natural movement of the swing leg and the support leg. At this time, in the first link portion 30, the first link portion 30 is urged in the forward direction by the urging force generator 24. Therefore, when the leg becomes a free leg, the lower leg is promoted to swing forward. Since the force to push the legs forward is added in this way, even when carrying heavy loads or climbing a slope, the strong torque from the first rotation support portion 20 causes the usual force or normal force. The legs can be easily moved with a force weaker than the force. Further, since the walking support machine 100 simultaneously prevents the legs from spreading outward, it is possible to effectively prevent staggering and the like when carrying a heavy load. At this time, the range in which the strongest urging force is desired may differ depending on the user. In such a case, the range in which the urging force works can be changed by moving the lever portion 61. The range in which urging force is required depends not only on different users, but also on the road surface conditions such as the angle of the slope even for the same climber, and the weight of the luggage carried by the same luggage carrier. The required range may differ. In such a case, by changing the position of the lever portion 61, it is possible to change the range to which the urging force is applied without removing the walking support device 100.

When the leg moves forward, the elastic energy of the urging force generator 24 is released, but when the leg lands on the ground and becomes a support leg, and the opposite leg is pushed forward, the first link portion 30 becomes the first. One rotation The rotation supports the support portion 20 and moves rearward. Then, the compression spring 24c is pressed again by the rotating plate 21, and elastic energy is stored. Then, when the swing leg is used again, the swing leg can be pushed forward. In this way, when the leg becomes a free leg during walking, the leg can always be pushed forward.

Next, a case where the thigh is moved backward, that is, a case where the hip joint is assisted in the extending direction will be described. In order to reverse the assisting direction, as described above, the outer housing 22 is moved in the opposite direction so that the pressing portion 24b of the urging force generator 24 is located on the opposite side beyond the protrusion. Power is generated. Then, the lever portion 61 adjusts so that the urging force is generated at the optimum position. In this way, when assisting in the backward direction, for example, in the case of mountain climbing, after moving the legs forward and upward on the slope, the assist works in the direction of extending the hip joint and assisting in the direction of moving the upper body upward. It will be. In this way, the assist direction can be changed without removing the walking support device 100 from the body by changing the position of the pressing portion 24b by the legs and changing the position where the urging force is applied by the lever portion 61.

As described above, according to the walking support device 100 according to the present invention, the range in which the urging force is generated can be freely set. Moreover, in addition to the state in which the walking support device 100 is attached to the body, it can be changed by the lever portion 61 even while walking. Similarly, the urging force can be changed in the opposite direction by changing the position of the pressing portion 24b of the urging force generating device 24 with the legs while the walking support device 100 is attached to the body.

Further, by providing a plurality of torque generators 29, it is possible to generate a large torque without increasing the diameter of the first rotation support portion 20 as compared with the case where one torque generator 29 is provided. Further, since the load related to each torque generator 29 applies only the same force as when one torque generator 29 is provided, the load applied to each component does not increase. Therefore, it is possible to provide the first rotation support portion 20 having the same reliability and life as in one case, even though the torque is increased. Further, when the two first rotation support portions 20 are attached, the first link portion is provided so that the respective torque generation curves are different, that is, the attachment angles of the respective torque generators 29 are different. The load can be adjusted according to the position of 30. For example, in response to the movement of the legs required for the movement of lifting luggage, when torque is generated most in the part where the most force is required, or when walking on a slope for mountain climbing, etc. A force is stored in the spring, and the rotational torque of the first rotation support portion 20 is distributed when the hip joint having a small residual force is flexed to assist the flexion operation. The strength of the torque itself can be adjusted by the urging force generator 24.

Further, when the user actually walks, the legs do not completely move back and forth, and the legs move while drawing an arc that spreads outward. Therefore, the first link portion 30 has , Twisting force may be applied. Further, when the hips are twisted during walking or the feet suddenly change direction when the feet land, the support portion 10 and the first link portion 30 can absorb the twists. Therefore, it is possible to walk in a natural state without applying extra force to the legs. Such twisting of the support portion 10 and the first link portion 30 may apply a twisting force not only when walking but also when trying to twist the body when standing up or when sitting down, but in such a situation, Can also absorb the twisting force. Further, by using two elastic rod-shaped members or elastic members for absorbing the twist, it becomes easier to return to the initial state as compared with the case where a metal plate or the like is used. The force to restore this twist limits the user to correct walking.

Further, since the first rotation support portion 20 is provided with an angle sensor or an inclination sensor, the operating angle, stride length, and assist during walking are obtained from data such as the rotation angle of the first rotation support portion 20 with respect to the support portion 10. By accumulating logs such as force, assist range, and direction setting, it is possible to collect various data necessary and effective for future walking support aircraft.

The present invention is not limited to the above-described embodiment, and can be implemented in various embodiments as long as it belongs to the technical scope of the present invention.

As shown in the above-described embodiment, it can be industrially used as a walking support machine that reduces the physical burden on a healthy person.

10 ... Support part, 11 ... Fixed part, 12 ... Base part, 12a ... Rotating shaft, 12b ... Arc part, 12c ... Angle scale, 13 ... Cushioning member, 20 ... First rotation support part, 21 ... Rotating plate, 21a ... Projection, 21b ... Screw hole, 22 ... Outer housing, 23 ... First link mounting part, 23a ... First link part insertion hole, 23d ... Tightening piece, 23e ... Tightening bolt, 24 ... Biasing force generator , 24a ... Cylindrical member, 24b ... Pressing part, 24c ... Compression spring, 29 ... Torque generator, 30 ... First link part, 50 ... Thigh mounting member, 53 ... Erecting member, 54 ... Thigh contact part, 54a ... Penetration Hole, 55 ... Thigh mounting belt, 60 ... Angle adjustment member, 61 ... Lever part, 64 ... Pointer part, 90 ... Backrest, 91 ... Fixing screw member, 95 ... Screw member, 100 ... Walking support machine

Claims (7)

The first link part located on the side of the user's thigh,
A support with a base that is directly or indirectly fixed to the body and serves as a base to which the first rotation support is attached .
A first unit having a torque generator capable of rotatably supporting the first link portion with respect to the support portion and switching the first link portion to forward urging or backward urging. Rotational support and
A thigh mounting member directly or indirectly provided on the first link portion and mounted on the thigh or lower leg of the user.
With
The first rotation support portion is formed in a circular eccentric distance from the center has a projecting portion on the outer periphery is longer the closer to the protrusions, a rotating plate which is fixed to said base portion, said rotating It has an eccentric force generator that presses the peripheral surface of the plate.
By moving the position of the urging force generator to move beyond the protrusion to the opposite side, the first link portion can be switched between urging in the forward direction and urging in the rear direction. A walking support machine characterized by having a torque generator. It has an angle adjusting member that is fixedly attached to the torque generator, and the angle adjusting member is rotatably attached to the base portion, and by operating the angle adjusting member, the base portion of the torque generating device is provided. The walking support device according to claim 1, wherein the angle with respect to the object can be adjusted. The walking support device according to claim 1 or 2, wherein the first rotation support portion is provided with a plurality of the torque generators. The first rotation support portion is provided so that the torque generator is symmetrically arranged on both sides with respect to the base portion, and each of the torque generators is mounted so that the mounting angle with respect to the base portion is different. The walking support device according to claim 3, wherein the walking support device is characterized. The walking support device according to any one of claims 1 to 4, wherein the torque generator is provided with an angle sensor. The walking support machine according to any one of claims 1 to 5, wherein at least a part of the support portion is an elastic member. The walking support device according to any one of claims 1 to 6, wherein the thigh mounting member is arranged on the front side of the thigh.

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