| 摘要 |
PROBLEM TO BE SOLVED: To provide a device for supporting the action of a lower limb, while reducing a burden on a user and reducing the output of an actuator.SOLUTION: The device for supporting the action of a lower limb includes: a body attachment part 10 that has a saddle 12 on which a user P sit, and is attached to a body trunk of the user P; a thigh link portion 30 that is connected to the body attachment part 10 and provided along a user's thigh in an unconstrained state; a lower thigh link portion 40 that is provided along a user's lower thigh in the unconstrained state and connected to the thigh link portion through a knee joint part; a leg placing section 50 that is provided to put a user's leg thereon and connected to the lower thigh link portion; an actuator 61 for driving the knee joint part that applies rotational torque to the knee joint part and provided in the thigh link portion 30 or the lower thigh link portion 40; and a biasing mechanism 34 and 43a that applies biasing in a direction that the thigh link portion and the lower thigh link portion extend. |
