Disclosed is a structure of assistive device using centroid design, which is mainly to utilize a driver to a linkage unit is pulled mainly through a driver to drive a wheel axle to drive two pore plates, the two pore plates are driven by means of a supporting sleeve penetrating through a coupler point curved groove to move along a path of the coupler point curved groove, and thus a recuperator may be effectively assisted to make a rehabilitation action by means of a force of pulling the linkage unit by the driver to drive the wheel axle to drive the two pore plates to rotate meanwhile, according to the coupler point curved groove obtained by a fixed polode and a movable polode of a knee joint of the recuperator, the two pore plates rotate, and when the two pore plates move along the path of the coupler point curved groove, its movement path is a path of a kinetic characteristic of the knee joint of the recuperator, so that additional pain caused by inconformity of an assistive device to the kinetic characteristic of the knee joint during rehabilitation is avoided.一種利用極心線設計之輔具結構,其主要係透過驅動器拉動連動單元,以帶動輪軸驅使二孔板藉由穿過該耦桿點曲線溝槽之支撐套件帶動二孔板沿著耦桿點曲線溝槽之路徑移動,藉由驅動器拉動連動單元以帶動輪軸驅使二孔板轉動之力量,可有效輔助復健者作復健動作,同時,依據復健者本身膝關節之固定極心線與運動極心線所得之耦桿點曲線溝槽,使二孔板轉動並沿著耦桿點曲線溝槽之路徑移動時,其移動之路徑即為復健者自身膝關節運動特性之路徑,可有效避免復健時因輔具不符合膝關節運動特性而造成額外的疼痛感。1‧‧‧孔板2‧‧‧溝槽輔具21‧‧‧第二連接部3‧‧‧可調式外骨架機構31‧‧‧大腿固定架32‧‧‧小腿固定架33‧‧‧足部乘載架4‧‧‧固定支架41‧‧‧定位部5‧‧‧驅動裝置51‧‧‧連動單元52‧‧‧驅動器8‧‧‧輪軸
