The present invention wearer suppressed as much as possible muscle force to be generated itself, provides a wearable motion assisting apparatus which can suppress a situation impairing convenience. In A back side of the waist, the junction between the first and second waist frame 110 and 120 mounted over the left-right direction, the left and right side of the hip joint, the first and the left and right ends of the second waist frame the side frame 140, and the left and right actuator which is disposed on the side frame, in muscle activity when the wearer is trying to maintain the angle of the muscle activity or trunk when you try to wake the body trunk a detection unit for detecting a biological signal in the back of the waist of the wearer with, together with the attached to left and right actuators, a left thigh fixing part and the right thigh fixing portion fixed to the left thigh and right thigh, based on the biological signal detected by the detection unit, in side view, so that the angle between the left thigh fixing part and the first and second waist frame and the right thigh fixing unit is opened, the control unit for driving the left and right actuators including the door.FIELD 1【課題】装着者が自ら発生すべき筋力を可及的に抑え、利便性を損なう事態を抑えることのできる装着式動作補助装置を提供する。【解決手段】腰部の背面側において、左右方向にわたって装着される第1及び第2腰部フレーム110,120と、股関節の左右側において、第1及び第2腰部フレームの左右端を接合する側部フレーム140と、側部フレームに配設される左側及び右側アクチュエータと、装着者が体幹を起こそうとする際の筋活動あるいは体幹の角度を維持しようとする際の筋活動に伴う生体信号を装着者の腰部の背面で検出する検出部と、左側及び右側アクチュエータに取り付けられるとともに、左大腿部及び右大腿部に固定される左大腿固定部及び右大腿固定部と、検出部で検出される生体信号に基づき、側面視で、第1及び第2腰部フレームと左大腿固定部及び右大腿固定部とがなす角度が開くように、左側及び右側アクチュエータを駆動する制御部とを含む。【選択図】図1
