| 摘要 |
A muscle force assisting device includes a first attachment arranged along one bone of a joint, a second attachment arranged along the other bone of the joint, and an artificial muscle having one end provided on the first attachment and having the other end provided on the second attachment, in which an actuator is used as the artificial muscle, the muscle force assisting device assists motion of a user's joint such as an elbow, a knee and a wrist, the first attachment and the second attachment are connected to each other through spring joints, coil springs are used as the spring joints, the coil springs are deformed to moderate a deviation, smooth motion of the joint is secured, and even when a turning axis of the joint and rotation shafts of the attachments are deviated from each other, and the joint can smoothly bend and stretch.
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