PROBLEM TO BE SOLVED: To provide an oscillation joint device which automatically adjusts torque generated by an oscillation motion by automatically adjusting the stiffness of a joint which moves so as to be oscillatory, and can further reduce power consumption or a load of a user, a walk assist device, a transport device, and a manipulator.SOLUTION: An oscillation joint device has: a drive shaft member 6 a first output part (13) which oscillates around a drive shaft 6J of the drive shaft member an elastic body (24) which generates energization torque corresponding to a first oscillation angle of the first output part apparent stiffness variable means (23, 21) which make the apparent stiffness of the elastic body viewed from the first output part variable first angle detection means 11S which detects a first oscillation angle and control means which controls the apparent stiffness variable means according to the first oscillation angle which is detected by the first angle detection means, and adjusts the apparent stiffness of the elastic body viewed from the first output part.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2017,JPO&INPIT【課題】揺動運動する関節の剛性を自動的に調整することで揺動運動によって発生するトルクを自動的に調整し、消費電力あるいはユーザの負荷をより低減することができる、揺動関節装置、歩行アシスト装置、搬送装置及びマニピュレータを提供する。【解決手段】駆動軸部材6と、駆動軸部材の駆動軸6J回りに揺動する第1出力部(13)と、第1出力部の第1揺動角度に応じた付勢トルクを発生させる弾性体(24)と、第1出力部から見た弾性体の見かけ上の剛性を可変とする見かけ上剛性可変手段(23、21)と、第1揺動角度を検出する第1角度検出手段11Sと、第1角度検出手段にて検出した第1揺動角度に応じて見かけ上剛性可変手段を制御して、第1出力部から見た弾性体の見かけ上の剛性を調整する制御手段と、を有する。【選択図】図1
