PROBLEM TO BE SOLVED: To propose non-exoskeletal robotic wear which is lightweight, has good wearability, and does not need an adjustment mechanism compared to an exoskeletal robot.SOLUTION: Non-exoskeletal robotic wear 1 is made of flexible materials except for wear joint parts 5-8 of the wear so as to follow the skin surface of a human body. In a state in which the wear is worn, a first and a second assist power transmission members 11, 12, which transmit the rotation of a rotary actuator 13 to a human body P as assist power, are bent into a shape following the surface of the human body P by elastic wear 2 and become stuck firmly to the human body P. When the rotary actuator 13 is rotationally driven according to the movement of a joint part of the human body, the first and the second assist power transmission members 11, 12 stuck firmly to the human body P rotate about a wear joint part 5. The first and the second assist power transmission members 11, 12 have predetermined rigidity and transmit predetermined assist power to the parts of the human body to which the members are stuck firmly.COPYRIGHT: (C)2015,JPO&INPIT【課題】外骨格型ロボットに比べて、軽量で、装着性が良く、調整機構を必要としない非外骨格型ロボティックウエアを提案すること。【解決手段】非外骨格型ロボティックウエア1は、そのウエア関節部5~8を除き、人体の皮膚表面に沿うように可撓性のある素材から構成されている。装着状態において、回転アクチュエータ13の回転をアシスト力として人体Pに伝達する第1、第2アシスト力伝達部材11、12は、伸縮性ウエア2によって人体Pの表面に沿った形状に撓み、人体Pに密着した状態になる。人体関節部の動きに応じて回転アクチュエータ13を回転駆動させると、人体Pに密着した状態の第1、第2アシスト力伝達部材11、12がウエア関節部5を中心として旋回する。第1、第2アシスト力伝達部材11、12は所定の剛性を備え、密着している人体の部位に所定のアシスト力を伝える。【選択図】図2
