Abstract
This paper proposes a wheeled walking assistive apparatus that assists a person with hemiparesis. This apparatus has high stability comparing with leg types because its wheels always contact on the ground. In addition the user does not need to support the weight of it. The user wears the apparatus bending his/her hemiplegic knee. Differential gears provided between front wheels enable the user to rotate in the horizontal direction. The gas spring attached on rear wheels enables the user to tilt the apparatus forward easily. It is controlled based on the tilt angle calculated from the length measured with the linear sensor. Results obtained from experiments demonstrate that non-disabled persons can travel indoors stably.
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