Motion assist device

摘要

Second joints are provided in positions where a seating unit is restrained from swinging relative to leg links due to a force acting on the seating unit from upper limb links through the intermediary of the second joints. A motion not intended by a user can be restrained from being generated due to a force acting from the upper limb links provided in the upper limbs.

主权项

1. A motion assist device, comprising:
a weight supporting unit which supports a part of the weight of a user; a foot-worn unit adapted to be attached to a foot of the user;
a leg link which connects the foot-worn unit to the weight supporting unit; a first joint which connects the leg link to the weight supporting unit such that the leg link is free to swing at least in a longitudinal direction relative to the weight supporting unit; an upper-limb-worn unit adapted to be attached to an upper limb of the user; an upper limb link which connects the upper-limb-worn unit to the weight supporting unit; a second joint which connects the upper limb link to the weight supporting unit such that the upper limb link is free to swing relative to the weight supporting unit; and a drive mechanism which drives a joint of the leg link, wherein the second joint is provided in a position where the weight supporting unit is restrained from swinging relative to the leg link due to a force acting on the weight supporting unit from the upper limb link through the second joint, and wherein the weight supporting unit is a seating unit on which the user sits astride, a swing supporting point of the first joint related to a swing of the leg link in the longitudinal direction is positioned above the seating unit, and a swing supporting point of the second joint is provided at a position between a seating surface of the seating unit and a horizontal plane which includes the swing supporting point of the first joint, so that the swing supporting point of the second joint is disposed below the horizontal plane.