Active type step assistance apparatus

The active walking aid device is disclosed. Disclosed walking aid apparatus comprises a body portion which the wheels are rotatably mounted is provided with a handle at the top through the bottom parts of the caster; F / T (Force / Torque) a sensor for sensing a walk rate and walk direction is provided on the handle through the power user wishes the user to pass; Wireless terminal is worn on the body of the user to detect the tilt and vibration of the user's body; A first drive motor which are mounted to the caster portion for driving the wheels; A second driving motor which is installed on a portion of the body portion to drive wheels rotating about the axial direction of the body portion of the body portion; A third drive motor along a longitudinal direction of the body portion which is disposed at the top of the body portion; And the first to third driving control at least two of the motor wherein the F / T sensor and controls the first drive motor via a pre-stored program to receive the respective signal from the mobile station controls the driving of the wheels, and the control unit for providing the user with haptic feedback signal; and a.