PROBLEM TO BE SOLVED: To provide a motion assist device capable of suppressing buffering of an arm member rotating with a hip joint part as a center and an arm member rotating with a knee joint part as a center.SOLUTION: A motion assist device worn on a human body and assisting a motion of a lower limb of a wearer includes: a hip joint part arranged in a side of a hip joint of a wearer a first thigh arm member extending downward from the hip joint part a knee joint part arranged in a side of the knee joint of a wearer a second thigh arm member extending upward from the knee joint part a lower thigh arm member extending downward from the knee joint part and at least one actuator generating torque rotating/driving the hip joint part and knee joint part. The knee joint part is located in an inner side of the wearer.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2019,JPO&INPIT【課題】股関節部を中心に回動するアーム部材と膝関節部を中心に回動するアーム部材との緩衝を抑制可能な動作補助装置を提供する。【解決手段】人体に装着されて装着者の下肢の動作を補助する動作補助装置は、装着者の股関節の側方に配置される股関節部と、股関節部から下方側に延びる第1の大腿部アーム部材と、装着者の膝関節の側方に配置される膝関節部と、膝関節部から上方側に延びる第2の大腿部アーム部材と、膝関節部から下方側に延びる下腿部アーム部材と、股関節部及び膝関節部を回転駆動するトルクを発生する少なくとも一つのアクチュエータと、を備え、膝関節部が、装着者の膝関節の内側に位置する。【選択図】図1
