PROBLEM TO BE SOLVED: To clearly recognize a movable range of a joint.SOLUTION: A device for assisting the action of a living body includes a link mechanism that supports the joint of the living body rotatably, a driving means that drives the link mechanism to assist the action of the joint of the living body, an angle detecting means that detects the rotation angle of the joint, and a control means that controls the driving means based on the rotation angle of the joint detected by the angle detecting means. The control means controls the driving means to change its drive torque based on the rotation angle detected by the angle detecting means when determining that the rotation angle of the joint comes off from a predetermined range.COPYRIGHT: (C)2013,JPO&INPIT【課題】関節部の可動範囲を明確に認識すること。【解決手段】生体動作補助装置は、生体の関節部を回転可能に支持するリンク機構と、リンク機構を駆動して生体の関節部の動作を補助する駆動手段と、関節部の回転角度を検出する角度検出手段と、角度検出手段により検出された関節部の回転角度に基づいて、駆動手段を制御する制御手段と、を備える。制御手段は、角度検出手段により検出された回転角度に基づいて、関節部の回転角度が所定範囲を外れたと判断したとき、駆動手段の駆動トルクを変動させるように制御する。【選択図】図1
