JOINT MOVEMENT ASSISTANCE DEVICE

摘要

Provided is a movement assistance device with a novel structure that makes it possible to exert an assisting force corresponding to the movement of a user's joint stably and with high precision. A joint movement assistance device (10): is provided with (i) an assisting force control means for adjusting the output level of a driving means (17) so that the load acting on assisting force-transmitting sections (12) while an assisting force is active reaches a target assisting force value and (ii) a slack prevention control means for operating the driving means (17) to exert a bias force on the assisting force-transmitting sections (12) so as to cancel slackening of the assisting force-transmitting sections (12) when the assisting force is not active as well as being provided with load sensors (34) for detecting loads in the tension direction acting on the assisting force-transmitting sections (12); and feedback-controls the operation of the driving means (17) in the assisting force control means and/or the slack prevention control means on the basis of the values detected by the load sensors (34) so that the loads acting on the assisting force-transmitting sections become the target assisting force or bias force.