| 摘要 |
A motion assist apparatus is provided with an attaching member 11 that has a glove shape with finger portions 12 and a middle hand portion 13 that is attachable to one of hands of a user, a back-side actuator 5 that is freely expanded and contracted, andbridgedbetween a tip of each of the finger portions and the middle hand portion on the back side of the attaching member 11, and a palm-side actuator 6 that is freely expanded and contracted, and bridged between the tip of each of the finger portions and the middle hand portion on the palm side of the attaching member, and in this structure, the palm-side actuator 6 is provided with a wire unit 21 formed of two wires that are disposed on each of the finger portions on the palm side from the tip of each of the finger portions on the back side to the middle handportion 13 along the finger portion 12, passing through two side portions 28 of the finger portion, so that intervals therebetween are made different at respective positions corresponding to joints of the finger portion, and rubber artificial muscle 19 is coupled to the wire unit 21 and is formed on the middle hand portion.
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