support apparatus includes a shaft having first and second ends, the intermediate element that is movable between the first and second ends, first and second end portions and intermediate element first and second elastic members respectively provided between the linear potentiometer for detecting a one-dimensional position of the intermediate element, and a grip portion for transmitting force in conjunction with the movement of the upper limb or lower limb to mesons , a force measuring sensor structure and a driving unit for changing the load applied to the intermediate element, and a control unit for controlling the drive unit, a mounting portion, while being hung on the shoulder portion, fixing the drive unit a main frame, comprising a waist belt for attaching the main frame to the body, attached to the main frame, an arm for suspending a wire for connecting the force measuring sensor structure and the driving unit, and a mounting portion having a, a, a 1 and the second elastic member is a possible application of a load in the one-dimensional direction to the intermediate element, measures the force applied to the intermediate element by a linear potentiometer, the controller controls the driving unit in response to a force exerted on the intermediate element .支援装置は、第1及び第2の端部を有する軸と、第1及び第2の端部の間を移動可能に設けられた中間子と、第1及び第2の端部と中間子との間にそれぞれ設けられた第1及び第2の弾性部材と、中間子の一次元方向の位置を検出するリニアポテンショメータと、上肢又は下肢の動きと連動して中間子に力を伝達する把持部と、を備えた力計測センサ構造と、中間子に印加する負荷を変化させる駆動部と、駆動部を制御する制御部と、装着部であって、肩部に掛架されると共に、駆動部を固定するメインフレームと、メインフレームを胴体へ取り付ける腰ベルトと、メインフレームへ取り付けられ、力計測センサ構造と駆動部とを接続するワイヤを懸架するアームと、を備えた装着部と、を備え、第1及び第2の弾性部材は、中間子に一次元方向に負荷を印加可能であって、リニアポテンショメータによって中間子に加わる力を計測し、制御部は、中間子に加わる力に応じて駆動部を制御する。
