PROBLEM TO BE SOLVED: To reduce the size and power consumption of a support auxiliary device.SOLUTION: A support auxiliary device comprises: a joint including a movable part, a fixing part for rotatably supporting the movable part around the rotation center of the movable part, and a driving source for supplying a rotational drive force to the movable part in one direction of rotation directions of the movable part a first link 150 connected to the fixing part for supporting the joint a second link 120 connected to the movable part and supported on the joint so as to be swingable around the rotation center of the movable part with respect to the first link 150 an energization mechanism 315 capable of energizing the movable part in the one direction of the rotation directions of the movable part and an energization trigger structure for starting the energization of the movable part by the energization mechanism when a rotation angle of the movable part in the other direction opposite from the one direction of the rotation directions of the movable part becomes equal to or greater than a threshold value.COPYRIGHT: (C)2016,JPO&INPIT【課題】支持補助装置を小型にし、支持補助装置の消費電力を低減する。【解決手段】可動部、可動部を可動部の回転中心を中心として回転可能に支持する固定部、および、可動部に可動部の回転方向の一方向への回転駆動力を供給する駆動源を含む関節と、固定部に連結され、関節を支持する第1リンク150と、可動部に連結され、可動部の回転中心を中心として第1リンク150に対して揺動可能となるように関節に支持される第2リンク120と、可動部の回転方向の一方向に可動部を付勢可能な付勢機構315と、可動部の回転方向の一方向とは反対の他方向への可動部の回転角度が閾値以上になった時点で付勢機構による可動部の付勢を開始させる付勢トリガー構造とを備える。【選択図】図5
