| 摘要 |
An actuator (91) is reduced in weight without impairing a walking assist function, and this reduces the inertial moment of a leg link (3). A drive crank arm (92) on the output shaft of the actuator (91) and a driven crank arm (93) fixed to a second link portion (7) so as to be concentric to the joint shaft of a third joint portion (8) are connected to each other via a connection link (94). The connection link (94) is placed so that a line connecting a pivot portion (94a) at which the drive crank arm (92) is pivotally mounted and a pivot portion (94b) at which the driven crank arm (93) is pivotally mounted obliquely crosses a line connecting the output shaft of the actuator (91) and the joint shaft of the third joint portion (8).
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