PROBLEM TO BE SOLVED: To provide a joint bending and stretching support actuator which places less burden on a user when used.SOLUTION: An joint bending and stretching support actuator 10 for supporting joint bending and stretching exercise comprises a balloon body 100 including a plurality of cells overlapped in layers. The adjacent cells are brought into communication with each other through respective opposed opening. At least one among bag bodies has an opening for forced inflow of fluid from the outside of the balloon body 100. The balloon body 100 has, in a portion of an edge, a low back part 110 where a displaceable amount in the overlapping direction of the plurality of cells is smaller than in the other portion of this edge. The balloon body 100 is widened in the overlapping direction by the plurality of cells expanded by the inflow of the fluid, and thereby forms into a shape widened toward the end from the low back 110.SELECTED DRAWING: Figure 2BCOPYRIGHT: (C)2019,JPO&INPIT【課題】ユーザにかかる使用上の負荷がより小さい関節屈伸支援アクチュエータを提供する。【解決手段】関節の屈伸運動を支援するための関節屈伸支援アクチュエータ10は、層状に重なる複数のセルを含むバルーン体100を備え、隣り合うセルは、対向するそれぞれの開口を介して連通し、袋体のうち少なくとも1つはバルーン体100の外部からの強制的な流体の流入のための開口を有し、バルーン体100は、縁の一部に、複数のセルの重なり方向の変位可能量がこの縁の他の部分より小さい低背部110を有し、バルーン体100は、流体の流入により複数のセルが膨張することで重なり方向に拡開して低背部110から末広がりの形状になる。【選択図】図2B
