POWER-ASSISTING ROBOTIC DEVICE AND CONTROL METHOD THEREOF
Provided are a power-assisting robotic device capable of assisting a wearer in lifting of a heavy object and walking with a small number of driving sources, and a method for controlling the power-assisting robotic device. Two power-assisting electric motors (1001) are respectively positioned close to either lateral side of the lumbar region of a wearer, said motors generating drive torques for assisting movements of the upper body and the femur regions. Each lower limb-assisting arm is fixed to the rotary shaft of the power-assisting electric motor (1001) at one end, and attached to a side part of the femur region at the other end. Upper body-assisting arms that are worn in the chest region of the wearer and a main frame that is worn in the lumbar region of the wearer and respectively supports the two power-assisting electric motors (1001) at either side thereof are connected by means of a passive rotary shaft (1012) and a passive rotary shaft (1013), the former of said passive rotary shafts being enabled to rotate around the vertical axis line while the latter being enabled to rotate around the anteroposterior axis line.