To assist a user to properly walk by using an image projected on a walking reference surface.
A user wears a wearable robot 1 and gets on/off an escalator 300 to move. Step plate information including the speed of the step plates, and feed-out pitch of the step plates in the escalator 300 is superimposed on illumination light of a lighting unit 100 by modulating the illumination light. The wearable robot 1 detects the illumination light of the lighting unit 100 at a position 200 in an illumination area, and receives the step plate information included in the light. The wearable robot 1 emits light diagonally forward down in a predetermined shape pattern to project an image, photographs the image, detects a level difference between a comb plate at the end and the step plate, on the basis of the distortion of the image, and calculates a distance between the comb plate and the step plate to be fed. The wearable robot 1 drives to allow the user to appropriately put his/her feet on the step plate through the use of the distance to the step plate and the step plate information.
INOUE KOJI
TANAKA SAIJIRO
Hitoshi Nakano