PROBLEM TO BE SOLVED: To ensure a desired moment which assists a motion of relatively moving two portions of a body while suppressing an output of an actuator which generates a force at a point of application.SOLUTION: A muscular strength assisting device 1 comprises: a first assisting unit 10 having a first actuator 11 for changing a distance between a first body side arrangement part 11A fitted to a first portion of a body and a first outside arrangement part 11B detachably attached to the first body side arrangement part 11A； and a second assisting unit 20 having a second actuator 21 for changing a distance between a second body side arrangement part 21A fitted to a second portion of the body and a second outside arrangement part 21B detachably attached to the second body side arrangement part 21A. The muscular strength assisting device 1 is fitted to the body so that a direction connecting between the second body side arrangement part 21A and the second outside arrangement part 21B is non-parallel to a direction connecting between the first body side arrangement part 11A and the first outside arrangement part 11B.SELECTED DRAWING: Figure 1【課題】身体の２つの部分を相対移動させる動作を補助する所望のモーメントを、作用点における力を生じさせるアクチュエータの出力を小さく抑えながらも確保する。【解決手段】筋力補助装置１は、身体の第１部分に取り付けられる第１身体側配置部１１Ａと第１身体側配置部１１Ａに対して離接可能な第１外側配置部１１Ｂとの間の距離を変化させる第１アクチュエータ１１を有する第１補助ユニット１０と、身体の第２部分に取り付けられる第２身体側配置部２１Ａと第２身体側配置部２１Ａに対して離接可能な第２外側配置部２１Ｂとの間の距離を変化させる第２アクチュエータ２１を有する第２補助ユニット２０と、を備える。第２身体側配置部２１Ａおよび第２外側配置部２１Ｂ間を結ぶ方向が第１身体側配置部１１Ａおよび第１外側配置部１１Ｂ間を結ぶ方向と非平行となるように、筋力補助装置１は、身体に取り付けられる。【選択図】図１
