To provide a joint auxiliary unit or the like which can be used both as the left and right joints.SOLUTION: The joint auxiliary unit 20 includes: a first link 21 which is attached to one end side of a joint part； a second link 22 which is attached to the other end side of the joint part and which is rotatably connected to the first link 21； a driving part which rotatably drives the second link 22； and a rotation regulation part 30 which regulates the rotation direction and the rotation range of the second link 22. Then, the rotation regulation part 30 is equipped with an engaging body 31 that is installed in one link and with an engaging part 33 that is installed in the other link and that engages with the engaging body 31. The engaging part 33 is provided with two guide routes 34, 35 that guide in different directions the engaging body 31 which moves in accordance with the rotation direction of the second link 22, and provided with a communication route 39 that communicates with the two guide routes 34, 35. The engaging body 31 is movable between the two guide routes 34, 35 through the communication route 39.SELECTED DRAWING: Figure 2【課題】左右の関節に兼用して装着可能な関節補助ユニット等を提供する。【解決手段】関節補助ユニット２０は、関節部の一端側に装着される第１のリンク２１と、関節部の他端側に装着され、第１のリンク２１に対して回転可能に連結される第２のリンク２２と、第２のリンク２２を回転駆動する駆動部と、第２のリンク２２の回転方向及び回転範囲を規制する回転規制部３０と、を備える。そして、回転規制部３０は、一方のリンクに設けられる係合体３１と、他方のリンクに設けられ、係合体３１と係合する係合部３３と、を備え、係合部３３は、第２のリンク２２の回転方向に応じて移動する係合体３１を異なる方向に案内する２つの案内経路３４、３５と、２つの案内経路３４、３５を連絡する連絡経路３９と、を有し、係合体３１は、連絡経路３９を介して２つの案内経路３４、３５の間を移動可能である。【選択図】図２
