| 摘要 |
Provided is a worn movement assistance device that sufficiently secures upper body freedom and can accommodate differences in physique between wearers. The worn movement assistance device is provided with: a frame worn at the arm of a wearer; drive units provided to each joint in the frame; a biological signal detection unit that detects biological electrical potential signals of the wearer; joint angle detection units that detect the angle of each joint; and a control unit that controls the drive units on the basis of the biological electrical potential signals and the joint angles. The frame has: a vertical frame extending vertically; a shoulder frame that laterally bridges in the direction of shoulder width from the top end of the vertical frame; a first arm frame of which one end is coupled to the end of the shoulder frame with a shoulder joint section therebetween; and a second arm frame of which one end is coupled to the other end of the first arm frame with an intermediate joint section therebetween and of which the other end is connected to an elbow joint section. The shoulder joint section, intermediate joint section, and elbow joint section are provided with the drive units. |
