PROBLEM TO BE SOLVED: To provide a joint movement assist device which has compact structure and appropriately assists joint movement.SOLUTION: When a projection part of a piston rod 153 from a cylinder 151 is extended by air pressure adjustment inside the cylinder 151 by an adjustment part, to a second gear member 123 through the piston rod 153 and first and second arm members 141 and 142, turning force for turning in a direction roughly parallel to a turning direction in which an elbow joint is turned from an extended state to a bent state is imparted. When the turning force is imparted to the second gear member 123, and engagement position with a first gear member 113 in the second gear member 123 is changed, and the second gear member 123 revolves with the center axis of the first gear member 113 as the center while rotating. Thus, a forearm exoskeleton member 121 fixed to the second gear member 123 is rotated, the crossing angle of an upper arm exoskeleton member 111 and the forearm exoskeleton member 121 is narrowed, and the elbow joint is changed from the extended state to the bent state.COPYRIGHT: (C)2013,JPO&INPIT【課題】構造がコンパクトであるとともに、関節運動を適切にアシストする。【解決手段】調整部によるシリンダ151内の空気圧調整により、シリンダ151からのピストンロッド153の突出部分が伸長すると、ピストンロッド153及び第1及び第2アーム部材141,142を介して、第2歯車部材123に、肘関節が伸展状態から屈曲状態へ向かう回動方向と略平行な方向で回動する回動力が付与される。第2歯車部材123に当該回動力が付与されると、第2歯車部位材123における第1歯車部材113との噛み合わせ位置が変化し、第2歯車部材123が、自転しつつ、第1歯車部材113の中心軸を中心として公転する。これにより、第2歯車部材123に固定的されている前腕外骨格部材121が回転し、上腕外骨格部材111と前腕外骨格部材121とが交差する角度が狭まり、肘関節は伸展状態から屈曲状態になる。【選択図】 図6
