| 摘要 |
[Problem] To ensure a desired moment to assist an operation for moving two parts of a body relative to each other, while suppressing, to a small amount, the output of an actuator that generates a force at a point of action. [Solution] This muscular strength assistance device (1) is provided with: a first assistance unit (10) that has a first actuator (11) that changes the distance between a first body-side disposition part (11A), which is attached to a first part of the body, and a first outer-side disposition part (11B), which is capable of approaching and separating from the first body-side disposition part (11A); and a second assistance unit (20) that has a second actuator (21) that changes the distance between a second body-side disposition part (21A), which is attached to a second part of the body, and a second outer-side disposition part (21B), which is capable of approaching and separating from the second body-side disposition part (21A). The muscular strength assistance device (1) is attached to the body such that that the direction linking the second body-side disposition part (21A) and the second outer-side disposition part (21B) is not parallel to the direction linking the first body-side disposition part (11A) and the first outer-side disposition part (11B). |
