Abstract: In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member for securely mounting an assisting force generator, which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small and therefore it is possible to reduce the uncomfortable pressure caused during motion while preventing the support member from inadvertently moving out of place.

Abstract: In order to provide a walking assistance device capable of favorably providing an assisting force for maintaining the upright posture while reducing the sense of pressure when worn by the user, a hip support member (1) of the walking assisting device, which comprises an assisting force generator (hip joint actuator 10) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, is provided with: a back support (4) equipped with pads (18, 19, 20) for respectively abutting an intermediate portion between right and left erector spinae muscles, lateral outer sides of the spinae muscles and right and left iliac crests; and a belt (5) connected to the back support for tightening a lower part of the rectus abdominis muscle. In this way, a supporting force can be provided to the lumbar vertebrae to steadily keep the upright posture while reducing a resistance to a bending movement of the waist caused by the support member.

Abstract: In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member (hip support member 1 and/or lower leg support member 2) for securely mounting an assisting force generator (hip joint actuator 10 and/or knee joint actuator 26), which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small, i.e.

Abstract: In order to provide a walking assistance device capable of favorably providing an assisting force for maintaining the upright posture while reducing the sense of pressure when worn by the user, a hip support member (1) of the walking assisting device, which comprises an assisting force generator (hip joint actuator 10) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, is provided with: a back support (4) equipped with pads (18, 19, 20) for respectively abutting an intermediate portion between right and left erector spinae muscles, lateral outer sides of the spinae muscles and right and left iliac crests; and a belt (5) connected to the back support for tightening a lower part of the rectus abdominis muscle. In this way, a supporting force can be provided to the lumbar vertebrae to steadily keep the upright posture while reducing a resistance to a bending movement of the waist caused by the support member.