| 摘要 |
PROBLEM TO BE SOLVED: To provide a power assist device capable of making an optimal power assist.SOLUTION: A power assist device includes holding means (holding part 3) for holding a work, a wire 4 suspending the holding means at least at two points, detecting means (tension difference detection part 6) for detecting a difference in applied tension between the two points, take-up means (take-up wheel) for the wire 4, driving means (driving part 5) for driving the take-up means, and control means (control part) for calculating operation force to the work on the basis of the difference in applied tension between the two points that the detecting means had detected, and controlling the driving means to assist the calculated operation force. |
