PROBLEM TO BE SOLVED: To provide a half-sitting posture assist device and the like which can reduce a load applied on a users body in a half-sitting posture.SOLUTION: The half-sitting posture assist device includes: drive means M operating a drive mechanism part assisting a users knee for bending and extending by means of torque application control means 62 controlling the drive means M to be driven and detection means 65 detecting an angle of a knee joint of the user. The control means 62 controls the drive means M to be driven such that a torque, which is at the same value as a reference torque applied on the drive mechanism part due to self-weight, is applied in a direction for assisting the users knee for extending when an angle of the knee joint detected by the detection means 65 during bending operation reaches a predetermined angle.SELECTED DRAWING: Figure 2COPYRIGHT: (C)2016,JPO&INPIT【課題】中腰状態におけるユーザの身体にかかる負荷を軽減可能な中腰姿勢補助装置等を提供する。【解決手段】トルクの付与によってユーザの膝の屈曲及び伸展を補助する駆動機構部を動作させる駆動手段Mと、駆動手段Mを駆動制御する制御手段62と、ユーザの膝関節の角度を検出する検出手段65と、を具備し、制御手段62は、検出手段65により検出される屈曲動作中の膝関節の角度が所定の角度に達した場合に、自重により駆動機構部に加わる基準トルクと同じ値のトルクがユーザの膝の伸展を補助する方向に付与されるように駆動手段Mを駆動制御する。【選択図】図2
