PROBLEM TO BE SOLVED: To provide a self-weight compensator which aims assisting lower limb rehabilitation and is less risky for a person when used by being mounted on him/her.SOLUTION: The mechanical self-weight compensator includes: a first power transmission mechanism which is pivotally attached onto a joint rotary shaft, so as to transmit a joint rotary angle to a self-weight compensation torque generator incorporated in a link a second power transmission mechanism which is incorporated in the link, so as to convert the joint rotary angle into the desired extension amount of a spring member incorporated in the link and the spring member.COPYRIGHT: (C)2010,JPO&INPIT【課題】下肢リハビリテーションを補助することを目的とし、人に装着して使用した際に人に与える危険の少ない、自重補償装置を提供することを目的とする【解決手段】関節の回転角度をリンク内に内蔵された自重補償トルク生成装置に伝えるための関節回転軸上に枢着された第一の動力伝達機構と、関節回転角を前記リンク内に内蔵されたばね部材の所望の伸張量に変換する前記リンク内に内蔵された第二の動力伝達機構と、ばね部材から構成される【選択図】図1
