| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a joint movement assist device which has compact structure and appropriately assists joint movement. <P>SOLUTION: When a projection part of a piston rod 153 from a cylinder 151 is extended by air pressure adjustment inside the cylinder 151 by an adjustment part, to a second gear member 123 through the piston rod 153 and first and second arm members 141 and 142, turning force for turning in a direction roughly parallel to a turning direction in which an elbow joint is turned from an extended state to a bent state is imparted. When the turning force is imparted to the second gear member 123, and engagement position with a first gear member 113 in the second gear member 123 is changed, and the second gear member 123 revolves with the center axis of the first gear member 113 as the center while rotating. Thus, a forearm exoskeleton member 121 fixed to the second gear member 123 is rotated, the crossing angle of an upper arm exoskeleton member 111 and the forearm exoskeleton member 121 is narrowed, and the elbow joint is changed from the extended state to the bent state. <P>COPYRIGHT: (C)2013,JPO&INPIT |
