To reduce the feeling of incompatibility to be given to a wearer when supporting walking of the wearer.
In this embodiment, as one example of cases that a gait changes, the case that the wearer of a mounting type robot 1 gets on an escalator 300 is considered. It is assumed that the wearer stands on a step board or walks causing change in the gait when getting on the escalator 300 but walks similarly to the time before getting on it after getting off the escalator 300. Then, the mounting type robot 1 detects walking information and stores it in an archive while supporting walking of the wearer before getting on the escalator 300, and supports walking by using the walking information when the wearer gets off the escalator 300 and starts to walk again. Since the mounting type robot 1 estimates the gait when the wearer gets off the escalator 300 and walks and controls it in advance by the control method, a feeling of incompatibility to be given to the wearer is reduced.
INOUE KOJI
TANAKA SAIJIRO
Hitoshi Nakano
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