PROBLEM TO BE SOLVED: To provide a bending motion assist device and the like which can reduce a burden applied on a users body in a knees bending state.SOLUTION: The bending motion assist device includes: drive means M operating a drive mechanism part assisting a users knee for bending and extending by means of a torque application control means 62 controlling the drive means M to be driven and detection means 65 detecting an angle of a knee joint of the user. The control means calculates an inflection point X starting changing a variation amount of the angle of the knee joint per unit time based on the angle of the knee joint detected by the detection means 65 and controls the drive means M to be driven such that a torque is applied in a direction for assisting the users knee for extending based on the calculation result.SELECTED DRAWING: Figure 2COPYRIGHT: (C)2016,JPO&INPIT【課題】膝の屈曲状態においてユーザの身体にかかる負担を軽減可能な屈曲動作補助装置等を提供する。【解決手段】トルクの付与によってユーザの膝の屈曲及び伸展を補助する駆動機構部を動作させる駆動手段Mと、駆動手段Mを駆動制御する制御手段62と、ユーザの膝関節の角度を検出する検出手段65と、を具備し、制御手段は、検出手段65により検出される膝関節の角度に基づいて、単位時間当たりの膝関節の角度の変位量が変化し始める変曲点Xを求め、この算出結果に基づいてトルクがユーザの膝の伸展を補助する方向に付与されるように駆動手段Mを駆動制御する。【選択図】図2
