PROBLEM TO BE SOLVED: To provide a device which commands the operation of a robot, which is intended by a user, in detail on the basis of biological signals of the user with a simple configuration and calculation.SOLUTION: An operation command device 10 of a robot comprises: muscle protrusion position detection means 12 for detecting a muscle protrusion position which is a position where a muscle of a user protrudes； and operation state determination means 13 for determining an operation state of a power artificial arm 11 in accordance with a change in the muscle protrusion position detected by the muscle protrusion position detection means 12. The operation state determination means 13 comprises: a storage part 20 in which a relation between the operation amount of the power artificial arm 11 and the muscle protrusion position is stored in advance； and an output part 21 for determining an operation amount from the muscle protrusion position detected by the muscle protrusion position detection means 12 by using the relation stored in the storage part 20, and giving an operation command to an operation control device C of the robot so as to obtain the operation amount.SELECTED DRAWING: Figure 1【課題】簡単な構成及び演算により、使用者の生体信号に基づいて、当該使用者の意図するロボットの動作を細かく指令する装置を提供する。【解決手段】ロボットの動作指令装置１０は、使用者の筋肉が隆起する位置である筋隆起位置を検出する筋隆起位置検出手段１２と、筋隆起位置検出手段１２で検出された筋隆起位置の変化に応じて、動力義手１１の動作状態を決定する動作状態決定手段１３とを備えている。動作状態決定手段１３は、動力義手１１の動作量と筋隆起位置との関係が予め記憶された記憶部２０と、記憶部２０に記憶された関係を用いて、筋隆起位置検出手段１２で検出された筋隆起位置から動作量を決定し、当該動作量が得られるように、ロボットの動作制御装置Ｃに動作指令をする出力部２１とを備えている。【選択図】図１
