PROBLEM TO BE SOLVED: To provide a device for supporting the action of a lower limb, while reducing a burden on a user and reducing the output of an actuator.SOLUTION: The device for supporting the action of a lower limb includes: a body attachment part 10 that has a saddle 12 on which a user P sit, and is attached to a body trunk of the user P a thigh link portion 30 that is connected to the body attachment part 10 and provided along a users thigh in an unconstrained state a lower thigh link portion 40 that is provided along a users lower thigh in the unconstrained state and connected to the thigh link portion through a knee joint part a leg placing section 50 that is provided to put a users leg thereon and connected to the lower thigh link portion an actuator 61 for driving the knee joint part that applies rotational torque to the knee joint part and provided in the thigh link portion 30 or the lower thigh link portion 40 and a biasing mechanism 34 and 43a that applies biasing in a direction that the thigh link portion and the lower thigh link portion extend.COPYRIGHT: (C)2012,JPO&INPIT【課題】利用者の負担をより軽減することができ、アクチュエータの出力が小さく抑えることができる下肢動作支援装置を提供する。【解決手段】利用者Pが着座するサドル12を備え、利用者Pの体幹に装着される体装着部10と、前記体装着部10に連結され、前記利用者の大腿に沿い非拘束状態に設けられる大腿リンク部30と、前記利用者の下腿に沿い非拘束状態に設けられ、膝関節部を介して前記大腿リンク部に連結された下腿リンク部40と、前記利用者の足を載置するように設けられ、前記下腿リンク部に連結された足載置部50と、前記膝関節部に回転トルクを付与し、前記大腿リンク部30又は下腿リンク部40に設けられた膝関節部駆動用アクチュエータ61と、前記大腿リンク部及び下腿リンク部が伸展する方向に付勢する付勢機構34,43aを有する。【選択図】図2
