Walking aid device

A walking aid device which aids a user's gait, comprising:

• a drive part which includes a first tension adjusting part configured to adjust tension of a first wire in which one end is configured to be fixed to a location corresponding to a left side of a user's lumbar region, a second tension adjusting part configured to adjust tension of a second wire in which one end is configured to be fixed to a location corresponding to a right side of the user's lumbar region, and a frame erected relative to a walking surface of a walking belt and supports the first tension adjusting part and the second tension adjusting part so that they are configured to attain a mutually right-and-left paired relation at a position that is higher than the user's lumbar region, and the drive part is configured to apply external force independently via the first wire and the second wire while being configured to support each of the locations corresponding to the left side and the right side of the user's lumbar region;
• a gait recognition unit configured to measure a user's stride, walking cycle, walking speed and centroid position during a user's walking motion and recognizes a user's gait;
• and
• a control unit configured to set a user's ideal walking motion pattern by setting each of a user's pelvis inclination and rotation angle and speed thereof as optimal values, in which a time-oriented trunk balance is optimal, of the ideal walking motion pattern with a user's supported state as a reference based on a recognition result of the gait recognition unit,
• wherein the control unit is configured to drive the first tension adjusting part and the second tension adjusting part in synchronization with the walking motion pattern to respectively control a level of increase/decrease of tension of the first wire and tension of the second wire such that (i) a user's overall pelvis may swing alternately from side to side based on a walking direction to match changes in a time-orientated centroid position of a user's left leg and right leg and (ii) the user's pelvis itself engages in three-dimensional inclination oscillation and rotation oscillation based on a user's trunk.