< Topic > Solutions When unnecessary friction and/or being operated, the joint kinematic device element and its operation method of including the compensation power support in order to compensate the other resistivity which the device receives. < Selective figure > Figure 1【課題】【解決手段】 不要な摩擦および/または操作される時に装置が受ける他の抵抗力を補償するための補償力支援を含む関節運動装置要素およびその作動方法。【選択図】 図1