Frame system and system

Abstract

A frame system according to the present disclosure comprises a first fixed frame, a second fixed frame, a movable frame, and a moving unit. The first fixed frame and the second fixed frame extend in a first direction. The movable frame is supported by the first fixed frame and the second fixed frame and extends in a second direction intersecting the first direction. The first fixed frame includes an endless first belt and a first speed-increasing unit configured to accelerate the movement of the first belt. One end of the movable frame is connected to the first belt, whereby the movable frame is configured to move along the first fixed frame and the second fixed frame in accordance with the movement of the first belt.

Description

【Technical Field】 【0001】 The present disclosure relates to a frame system and a system. 【Background Art】 【0002】 In recent years, in the field of rehabilitation and the like, BWSTT (Body Weight Supported Treadmill Training) for performing walking training while unloading at least a part of the user's body weight is known. On a treadmill, the training environment is limited. Therefore, in order to enhance the adaptability to various ground walking scenes in daily life, the development of a mobile unloading system has been promoted. 【0003】 For example, Non-Patent Document 1 proposes a wire system for supporting a user from four directions. Specifically, the wire system proposed in Non-Patent Document 1 includes a pair of rails. On each rail, two carriages are arranged at intervals. Each carriage moves along the rail. Four cables respectively connect the corresponding carriage and the harness worn by the user. Thereby, the user is supported by the four cables. 【0004】 Also, for example, Non-Patent Document 2 proposes a frame system (universal core frame) for movably supporting an unloading device. Specifically, the frame system proposed in Non-Patent Document 2 includes a pair of fixed frames and a movable frame. The movable frame is movably supported by the pair of fixed frames. A moving unit is attached to the movable frame. The moving unit is configured to be movable along the movable frame. An unloading device is attached to this moving unit. According to the systems proposed in Non-Patent Document 1 and Non-Patent Document 2, the user can perform walking training even not on a treadmill. 【Prior Art Documents】 [[ID=?]] 【Patent Documents】 【0005】 It should be noted that there seems to be a formatting issue with the "? " in the original text where the tag is shown. It's left as is in the translation as per the instructions. 【Patent Document 1】 International Publication No. 2020 / 246587 【Patent document 2】 Special Publication No. 2016-061302 【Non-licensed literature】 【0006】 [Non-licensed document 1] M. Plooij, U. Keller, B. Sterke, S. Komi, H. Vallery, and J. von Zitzewitz, “Design of RYSEN: An Intrinsically Safe and Low-Power Three-Dimensional Overground Body Weight Support,” [Online], IEEE Robot. Autom. Lett., vol. 3, no. 3, pp. 2253-2260, July 2018. [Reiwa September 4th, 2017], インターネット<URL:http: / / ieeexplore.ieee.org / document / 8307350 / > [Non-licensed document 2] インターリハ Co., Ltd., "Free charge device", [Reiwa September 4, 2017], インターネット<URL:https: / / www.irc-web.co.jp / unweightingsystem> [Non-licensed document 3] A. Takai, T. Teramae, T. Noda, K. Ishihara, J.-i. Furukawa, H. Fujimoto, M. Hatakenaka, N. Fujita, A. Jino, Y. Hiramatsu, I. Miyai, and J. Morimoto, “Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation,” Front. Hum. Neurosci., vol. 17, p. 1197380, July 2023, [Retrieved September 4, 2023], Internet<URL: https: / / www.frontiersin.org / articles / 10.3389 / fnhum.2023.1197380 / full> [Overview of the project] [Problems that the invention aims to solve] 【0007】 The inventors of this case have found that conventional systems have the following problems. Specifically, the wire system proposed in Non-Patent Document 1 employs a structure that suspends the load from four directions using wires, thus requiring high ceilings. Therefore, it is difficult to use this wire system in small to medium-sized facilities with low ceilings. On the other hand, the frame system proposed in Non-Patent Document 2 can be used even in facilities with low ceilings. Therefore, in order to introduce a load-relieving system regardless of the size of the facility, it is preferable to adopt such a frame system. However, in this frame system, the longer the range of motion of the mobile unit, the longer the length of the movable frame becomes. The longer the length of the movable frame, the heavier the movable frame becomes, resulting in the problem that the mobility (ease of movement) of the movable frame is impaired. It should be noted that this problem is not limited to load-relieving systems. This problem can occur in any situation in which any device other than a load-relieving device is used in a frame system. 【0008】 This disclosure has been made in part with these points in mind, and its purpose is to provide a technology for improving the mobility of a movable frame in a frame system. [Means for solving the problem] 【0009】 This disclosure adopts the following configuration to solve the above-mentioned problems. The configurations of the invention described below can be combined as appropriate. 【0010】 A frame system relating to one aspect of this disclosure comprises a first fixed frame, a second fixed frame, a movable frame, and a moving unit. The first fixed frame extends in a first direction. The first fixed frame comprises a first output pulley, a first auxiliary pulley, an endless first belt, and a first speed-increasing unit. The first output pulley is located at one end of the first fixed frame. The first auxiliary pulley is located at the other end of the first fixed frame. The first belt is stretched between the first output pulley and the first auxiliary pulley. The first speed-increasing unit is configured to receive a driving force input from a first actuator and to increase the speed of the movement of the first belt by outputting the input driving force to the first output pulley. The second fixed frame extends in a first direction and is located in parallel with the first fixed frame. The movable frame is supported by the first and second fixed frames and extends in a second direction intersecting the first direction. The movable frame is connected at one end to the first belt and is configured to move along the first fixed frame and the second fixed frame in accordance with the movement of the first belt. The moving unit is supported by the movable frame and is configured to move along the movable frame. 【0011】 In the frame system according to this configuration, a first speed-increasing unit is provided on the first fixed frame. The first speed-increasing unit increases the speed of the first belt by outputting the driving force of the first actuator to a first output pulley. One end of the movable frame is connected to this first belt. Therefore, the speed increase by the first speed-increasing unit is transmitted to the movable frame via the first belt, thereby making it easier for the movable frame to move in the first direction. Thus, according to this configuration, the mobility of the movable frame in the frame system can be increased. Note that increasing the mobility of the movable frame corresponds to increasing the mobility of the moving unit in the first direction. Any device may be attached to the moving unit. 【0012】 In the frame system relating to one aspect described above, the second fixed frame may include a second output pulley, a second auxiliary pulley, an endless second belt, and a second speed-increasing unit. The second output pulley may be located at one end of the second fixed frame. The second auxiliary pulley may be located at the other end of the second fixed frame. The second belt may be stretched between the second output pulley and the second auxiliary pulley. The second speed-increasing unit may be configured to receive input of driving force from the second actuator and output the driving force input from the second actuator to the second output pulley, thereby increasing the speed of the movement of the second belt. The other end of the movable frame may be connected to the second belt. With this configuration, by providing speed-increasing units on both sides of the first and second fixed frames, the speed-increasing force can be transmitted to both ends of the movable frame via the belt. This makes it possible to suppress the generation of rotational load when transmitting the speed-increasing force from each belt to each end of the movable frame, and as a result, the mobility of the movable frame can be improved. In other words, the movable frame can be moved smoothly. 【0013】 In the frame system relating to one aspect described above, the movable frame may include a third output pulley, a third auxiliary pulley, an endless third belt, and a third speed-increasing unit. The third output pulley may be located at one end and the other end of the movable frame. The third auxiliary pulley may be located at the other end and the other end of the movable frame. The third belt may be stretched between the third output pulley and the third auxiliary pulley. The third speed-increasing unit may be configured to receive the driving force input from the third actuator and output the driving force input from the third actuator to the third output pulley, thereby increasing the speed of movement of the third belt. The movable unit may be connected to the third belt. With this configuration, by also providing a speed-increasing unit to the movable frame, the mobility of the movable unit in the second direction can be increased. 【0014】 In the frame system relating to one aspect described above, the moving unit may include a base portion having a cavity that opens in the vertical direction, configured to supply a plurality of linear structures, including a first linear structure and a second linear structure, vertically downward through the cavity from vertically above, and a rotating unit configured to rotate around the cavity in the vertical direction. The rotating unit may include a first moving part located outside the cavity and configured to rotate vertically in accordance with the rotation of the rotating unit, and a second moving part located outside the cavity, spaced vertically apart from the first moving part, and configured to rotate vertically in accordance with the rotation of the rotating unit while maintaining the positional relationship with the first moving part. The first moving part is a first holding part configured to hold the first end of a curl formed when the first linear structure hangs vertically downward from the cavity and is then routed vertically upward, and the first linear structure may include a first holding part that hangs further vertically downward from the first end. The second moving part is a second retaining part configured to hold the second end of a curl formed when the second linear structure hangs vertically downward from a cavity and is then routed vertically upward, the second linear structure may include a second retaining part that hangs further vertically downward from the second end. 【0015】 Depending on the equipment used in the mobile unit, it may be necessary to supply any linear structure, such as power cables, communication cables, Bowden cables, and air tubes, to the bottom of the mobile unit. In this configuration, a cavity is provided in the base, allowing multiple linear structures to be supplied in a concentrated state below the mobile unit. This makes it easier to handle multiple linear structures. If multiple linear structures are supplied in a concentrated state, they will become entangled with each other, making it difficult to position each linear structure while maintaining their spacing. In particular, if rotation is permitted, the linear structures will twist together, making it difficult to keep them separated. In contrast, in this configuration, the first mobile unit and the second mobile unit are positioned spaced apart in the circumferential direction. The first and second linear structures form a curl, are then held by the first and second mobile units, and are routed so as to hang vertically downwards. The separation of the first and second mobile units allows the first and second linear structures to maintain their spaced-out state. In addition, even if the rotating unit rotates vertically (i.e., rotates around the vertical axis), each linear structure has a margin of error due to the curled portion, thus suppressing the effect of rotation on the portion hanging down from each moving part. That is, the curled portion acts on the winding of the rotation, so that the portion of each linear structure beyond each moving part can rotate while maintaining its spaced-out state without being affected by the winding. Therefore, with this configuration, multiple linear structures can be supplied below the moving unit in a spaced-out state, and this spaced-out state can be maintained even when the unit rotates vertically. Note that the linear structures may be any linear objects that can be wired or piped. The linear structures may be, for example, cables, tubes, etc. The type of cable and tube may be appropriately selected depending on the embodiment. 【0016】 In the frame system relating to one aspect described above, the rotating unit may further comprise a central part having a hollow section that is rotatable around the vertical direction and has an opening in the vertical direction, communicating with the cavity of the base part; a first arm extending vertically downward or inclined from the central part, connecting the central part and the first movable part; and a second arm extending vertically downward or inclined from the central part, connecting the central part and the second movable part. The movable part is provided with a holding part for holding a linear structure. Therefore, a load caused by the linear structure acts on the movable part. In this configuration, the movable part is positioned below the rotating part (central part). This allows the other part to act as a stopper when it shifts to one side. Furthermore, the stability of the rotation can be increased by the balancing effect. 【0017】 In the frame system relating to one aspect described above, the moving unit may comprise a base portion having a cavity that opens vertically up and down, configured to supply a linear structure vertically downward through the cavity from vertically above, and a rotating unit configured to rotate vertically around the cavity. The rotating unit may comprise a moving part located outside the cavity and configured to rotate vertically in accordance with the rotation of the rotating unit. The moving part comprises a holding part configured to hold the end of a curl formed when the linear structure hangs vertically downward from the cavity and is then routed vertically upward, and the linear structure may include a holding part that hangs further vertically downward from the end. In this configuration, the curled portion acts on the winding of the rotation, so that the portion of the linear structure beyond the moving part can rotate without being affected by the winding. This makes it possible to rotate even linear structures that are difficult to twist. 【0018】 In the frame system relating to the above aspect, the first actuator may be a variable stiffness actuator. With this configuration, impedance control becomes possible in the first direction. 【0019】 In the frame system according to the above aspect, the variable stiffness actuator may be composed of a pair of artificial muscles. The artificial muscles can continuously output a relatively large force with low energy. Therefore, according to this configuration, the energy consumption when maintaining the state can be suppressed. Also, the artificial muscles become weaker as they contract. Therefore, according to this configuration, the output when the movable frame reaches the end becomes smaller, and the force hitting the end can be weakened. 【0020】 In the frame system according to the above aspect, each artificial muscle may include a wire for inputting a driving force into a first speed increasing unit, a stopper configured to transmit the driving force to the wire when each artificial muscle contracts in the direction of pulling the wire, and an elastic member configured to maintain the tension of the wire when each artificial muscle relaxes and the stopper comes off. In this configuration, when the wire is stretched, the movement of the wire stops due to the action of the stopper. On the other hand, when the wire is pulled back, the stopper comes off, so that the wire can move freely and the tension of the wire is maintained by the elastic member. Thereby, the movable frame can be freely moved by hand within a certain range. That is, in the frame system, a range that can be freely moved with respect to the first direction can be set. 【0021】 In the frame system according to the above aspect, each artificial muscle may be a fluid pressure artificial muscle. According to this configuration, system construction is easy. 【0022】 In addition, when adopting a configuration in which a second speed increasing unit is provided on the second fixed frame, the second actuator may also be configured in the same manner as the first actuator. That is, in one example, the second actuator may be a variable stiffness actuator. In one example, the variable stiffness actuator of the second actuator may be composed of a pair of artificial muscles. In one example, each artificial muscle of the second actuator may be configured to include the above wire, stopper, and elastic member. In one example, each artificial muscle of the second actuator may be a fluid pressure artificial muscle. 【0023】 In the frame system according to the above one side, when adopting a configuration in which a third speed increasing unit is provided on the movable frame, the third actuator may be a variable stiffness actuator. According to this configuration, impedance control in the second direction becomes possible. In addition, the third actuator may also be configured in the same manner as the first actuator. That is, in one example, the variable stiffness actuator of the third actuator may be composed of a pair of artificial muscles. In one example, each artificial muscle of the third actuator may be configured to include the wire, the stopper, and the elastic member. In one example, each artificial muscle of the third actuator may be a fluid pressure artificial muscle. 【0024】 In the frame system according to the above one side, a load relief device may be attached to the moving unit. According to this configuration, the mobility of the movable frame can be enhanced in a scene where the load relief device is used. 【0025】 In the frame system relating to the above-described aspect, a load-relieving device may be attached to the moving unit. In addition, the moving unit may include a base portion having a cavity that opens in the vertical direction, configured to supply a plurality of linear structures, including a first linear structure and a second linear structure of the load-relieving device, from vertically above through the cavity and vertically downward, and a rotating unit configured to rotate around the cavity in the vertical direction. The rotating unit may include a first moving part located outside the cavity and configured to rotate vertically in accordance with the rotation of the rotating unit, and a second moving part located outside the cavity, spaced vertically apart from the first moving part, and configured to rotate vertically in accordance with the rotation of the rotating unit while maintaining the positional relationship with the first moving part. The first movable part is a first holding part configured to be formed when a first linear structure hangs vertically downward from a cavity and is then routed vertically upward, and the first linear structure may include a first holding part that hangs further vertically downward from the first end toward one of the left or right sides of the user of the load-relieving device. The second movable part is a second holding part configured to hold the second end of a curl formed when a second linear structure hangs vertically downward from a cavity and is then routed vertically upward, and the second linear structure may include a second holding part that hangs further vertically downward from the second end toward the other of the left or right sides of the user. With this configuration, multiple linear structures of the load-relieving device can be supplied to the user in a spaced-out state and maintain that spaced-out state even when rotated around the vertical direction. Note that each linear body of the load-relieving device may be a cable that supports the left or right side of the user. 【0026】 In the frame system relating to the above aspect, a robotic arm may be attached to the mobile unit. With this configuration, the mobility of the movable frame can be increased when using the robotic arm. 【0027】 In the frame system relating to one aspect described above, a robot arm may be attached to the moving unit. In addition, the movable frame may include a third output pulley, a third auxiliary pulley, an endless third belt, and a third speed-increasing unit. The third output pulley may be located at one end and the other end of the movable frame. The third auxiliary pulley may be located at the other end and the other end of the movable frame. The third belt may be stretched between the third output pulley and the third auxiliary pulley. The third speed-increasing unit may be configured to receive the input of a driving force from the third actuator and output the driving force input from the third actuator to the third output pulley, thereby increasing the speed of movement of the third belt. The moving unit may be connected to the third belt. With this configuration, the mobility of the robot arm in the first and second directions can be increased. 【0028】 In the frame system relating to the above aspect, the robot arm may be attached to the mobile unit via a balancer. From the viewpoint of convenience, it is preferable to move the robot arm vertically upward when moving and to lower it vertically downward when using it. With this configuration, the balancer facilitates this vertical movement. This enhances convenience. 【0029】 Furthermore, in one aspect of this disclosure, a system may be configured by using a plurality of frame systems, each relating to one of the above aspects. For example, a system relating to one aspect of this disclosure may include a first frame system located in a first space, and a second frame system located in a second space adjacent to the first space. Each frame system may include a first fixed frame, a second fixed frame, a movable frame, and a moving unit. The first fixed frame of each frame system may extend in a first direction. The first fixed frame of each frame system may include a first output pulley, a first auxiliary pulley, an endless first belt, and a first speed-increasing unit. In each frame system, the first output pulley may be located at one end of the first fixed frame. The first auxiliary pulley may be located at the other end of the first fixed frame. The first belt may be stretched between the first output pulley and the first auxiliary pulley. The first speed-increasing unit may be configured to receive a driving force input from a first actuator and output the input driving force to the first output pulley, thereby increasing the speed of the movement of the first belt. The second fixed frame of each frame system may extend in a first direction and may be arranged in parallel with the first fixed frame. The movable frame of each frame system may be supported by the first and second fixed frames and may extend in a second direction intersecting the first direction. The movable frame of each frame system may be configured to move along the first and second fixed frames in accordance with the movement of the first belt, with one end connected to the first belt. The movable unit of each frame system may be supported by the movable frame and configured to move along the movable frame. The first and second frame systems may be arranged at a distance from the boundary between the first and second spaces, or near the boundary, that allows for the attachment of load-relieving devices to the movable units of both the first and second frame systems. This configuration increases the mobility of the movable frame in each frame system. Furthermore, the arrangement of the first and second frame systems at the above distance allows for the continuous use of load-relieving devices in the first and second spaces. 【0030】 In the system relating to the above aspect, the first space and the second space may be selected arbitrarily. In one example, one of the first space and the second space may be a bathroom. According to this example, a weight-bearing support device can be used in the bathroom. This is expected to reduce the burden on caregivers in the bathroom. [Effects of the Invention] 【0031】 This disclosure provides a technology for improving the mobility of a movable frame in a frame system. [Brief explanation of the drawing] 【0032】 [Figure 1] Figure 1 schematically shows an example of a frame system according to an embodiment. [Figure 2A] Figure 2A schematically shows an example of a first fixed frame according to an embodiment. [Figure 2B] Figure 2B schematically shows an example of a side view of the first fixed frame (second fixed frame) according to the embodiment. [Figure 2C] Figure 2C is a diagram illustrating impedance control by a speed-increasing unit for a fixed frame according to an embodiment. [Figure 3] Figure 3 schematically shows an example of a movable frame according to an embodiment. [Figure 4A] Figure 4A is a schematic perspective view showing an example of the support portion of the movable frame and the first fixed frame according to the embodiment. [Figure 4B] Figure 4B is a schematic partial cross-sectional view showing an example of the support portion of the movable frame and the first fixed frame according to the embodiment. [Figure 4C] Figure 4C is a schematic partial cross-sectional view showing an example of the support portion of the movable frame and the second fixed frame according to the embodiment. [Figure 5A] Figure 5A is a schematic perspective view showing an example of a mobile unit according to an embodiment. [Figure 5B] Figure 5B is a schematic partial cross-sectional view showing an example of a mobile unit according to an embodiment. [Figure 6] Figure 6 schematically shows an example of the general configuration of an artificial muscle according to an embodiment. [Figure 7] Figure 7 schematically shows an example of the hardware configuration of the control device according to the embodiment. [Figure 8] Figure 8 schematically shows an example of the software configuration of the control device according to the embodiment. [Figure 9] Figure 9 is a flowchart showing an example of the processing procedure of the control device according to the embodiment. [Figure 10] Figure 10 schematically shows examples of frames related to other configurations (first fixed frame, second fixed frame, and movable frame). [Figure 11A] Figure 11A schematically illustrates another example of a scenario in which the frame system of this disclosure is used. [Figure 11B] Figure 11B is a schematic perspective view showing an example of the routing of a linear structure in the mobile unit of this disclosure. [Figure 11C] Figure 11C is a schematic partial cross-sectional view illustrating an example of the routing of a linear structure in the mobile unit of this disclosure. [Figure 12] Figure 12 schematically illustrates another example of a scenario in which the frame system of this disclosure is used. [Figure 13] Figure 13 schematically illustrates another example of a scenario in which the frame system of this disclosure is used. [Figure 14] Figure 14 is a flowchart illustrating another example of the processing procedure of the control device of this disclosure. [Figure 15] Figure 15 schematically shows an example of the system of this disclosure. [Figure 16A] Figure 16A schematically shows an example of a scenario in which a user of the load-relieving device moves from a first space to a second space in the system of this disclosure. [Figure 16B] Figure 16B schematically shows an example of a scenario in which a user of a load-relieving device moves from a first space to a second space in the system of this disclosure. [Figure 17] Figure 17 schematically shows an example of the general structure of an artificial muscle of a different form. [Figure 18] Figure 18 schematically shows an example of force control according to this disclosure. [Figure 19A] Figure 19A shows the results of the first experimental example. [Figure 19B] Figure 19B shows the results of the first experimental example. [Figure 20A] Figure 20A shows the results of the second experimental example. [Figure 20B] Figure 20B shows the results of the second experimental example. [Modes for carrying out the invention] 【0033】 Hereinafter, an embodiment relating to one aspect of the present invention (hereinafter also referred to as "this embodiment") will be described based on the drawings. However, this embodiment described below is merely illustrative of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. In other words, in carrying out the present invention, specific configurations according to the embodiment may be appropriately adopted. The attributes of each component described in this embodiment, such as shape, material, and structure, may be appropriately changed according to the embodiment. Although the data appearing in this embodiment is described in natural language, more specifically, it is specified in pseudo-language, commands, parameters, machine code, etc., that can be recognized by a computer. 【0034】 §1 Example Configuration Figure 1 schematically shows an example of the frame system ST according to this embodiment. The frame system ST according to this embodiment comprises a first fixed frame 10, a second fixed frame 20, a movable frame 30, and a moving unit 40. 【0035】 In one example, the first fixed frame 10 extends in the first direction (x direction) and is formed in a substantially rectangular cross-section. The second fixed frame 20 also extends in the first direction (x direction) and is formed in a substantially rectangular cross-section. The second fixed frame 20 is arranged in parallel with the first fixed frame 10. The lengths of each fixed frame (10, 20) may be appropriately determined depending on the embodiment. In the example in Figure 1, the lengths of the first fixed frame 10 and the second fixed frame 20 are approximately the same. However, the lengths of each fixed frame (10, 20) are not limited to this example, and one of the first fixed frame 10 and the second fixed frame 20 may be longer than the other. The material of each fixed frame (10, 20) may be appropriately selected depending on the embodiment. 【0036】 The movable frame 30 extends in a second direction (y-direction) intersecting the first direction and is formed in a substantially rectangular cross-section. The movable frame 30 is supported by the first fixed frame 10 and the second fixed frame 20 so as to be movable along the first fixed frame 10 and the second fixed frame 20 (i.e., in the first direction). The length of the movable frame 30 may be appropriately determined depending on the embodiment. The movable unit 40 is supported by the movable frame 30. The movable unit 40 is configured to move along the movable frame 30. The materials of the movable frame 30 and the movable unit 40 may be appropriately selected depending on the embodiment. In one example of this embodiment, a load-relieving device 60 may be attached to the movable unit 40. Figure 1 shows an example of a scenario in which the frame system ST of this disclosure is used together with the load-relieving device 60. 【0037】 The first fixed frame 10 and the second fixed frame 20 may be fixed as appropriate. In the example in Figure 1, the frame system ST further comprises four support columns (first column 55, second column 56, third column 57, and fourth column 58). Each column 55-58 is configured in a tension-type manner and is fixed by being sandwiched between the floor and the ceiling. Each end of the first fixed frame 10 is fixed as appropriate near the ceiling of the first column 55 and the second column 56, respectively. Similarly, each end of the second fixed frame 20 is fixed as appropriate near the ceiling of the third column 57 and the fourth column 58, respectively. As a result, the first fixed frame 10 and the second fixed frame 20 are fixed at approximately the same height. 【0038】 In addition, in the example shown in Figure 1, the frame system ST further comprises a third fixed frame 51 and a fourth fixed frame 52. The third fixed frame 51 and the fourth fixed frame 52 each extend in the second direction (y-direction) and are formed in a substantially rectangular cross-section. The lengths of the third fixed frame 51 and the fourth fixed frame 52 are approximately the same as the movable frame 30. The third fixed frame 51 spans between the second column 56 and the third column 57 at approximately the same height as the first fixed frame 10 and the second fixed frame 20. Each end of the third fixed frame 51 is fixed to the second column 56 and the third column 57, respectively. In this way, the third fixed frame 51 connects one end of the first fixed frame 10 and the second fixed frame 20. Similarly, the fourth fixed frame 52 spans between the first column 55 and the fourth column 58 at approximately the same height as the first fixed frame 10 and the second fixed frame 20. Each end of the fourth fixing frame 52 is fixed to the first support column 55 and the fourth support column 58, respectively. In this way, the fourth fixing frame 52 fixes the other ends of the first fixing frame 10 and the second fixing frame 20 together. By fixing the ends of the first fixing frame 10 and the second fixing frame 20 together with the third fixing frame 51 and the fourth fixing frame 52, it is possible to suppress the first fixing frame 10 and the second fixing frame 20 from spreading in the second direction. 【0039】 In each figure, for the sake of explanation, the first direction is indicated as the "x direction," the second direction as the "y direction," and the vertical direction as the "z direction." However, the correspondence between the directions is merely illustrative and may be changed as appropriate depending on the embodiment. For example, the relationship between the first and second directions may be reversed (for example, the first direction may be the y direction and the second direction as the x direction). The first and second directions are preferably horizontal, but as long as the movable frame 30 is movable, the first and second directions may be inclined with respect to the vertical direction. 【0040】 Furthermore, it is preferable that the first fixed frame 10 and the second fixed frame 20 are arranged in parallel, and that this arrangement is achieved by the first fixed frame 10 and the second fixed frame 20 being parallel to each other. However, if the movable frame 30 is movable, the arrangement in parallel is not limited to this example, and may include the first fixed frame 10 and the second fixed frame 20 being arranged at an angle. 【0041】 Furthermore, it is preferable that the intersection of the first and second directions is achieved by the first and second directions being orthogonal (i.e., the angle at which the first and second directions intersect is a right angle). However, as long as the movable frame 30 is movable, the intersection of the first and second directions is not limited to this example and may include the intersection of the first and second directions at an acute or obtuse angle. 【0042】 [First fixed frame / Second fixed frame] Figure 2A schematically shows an example of the first fixed frame 10 according to this embodiment. Figure 2B schematically shows an example of the first fixed frame 10 (second fixed frame 20) according to this embodiment viewed from the side. In one example, the first fixed frame 10 includes a first output pulley 11, a first auxiliary pulley 12, an endless first belt 13, and a first speed-increasing unit 14. 【0043】 The first output pulley 11 is located at one end 101 of the first fixed frame 10. The first auxiliary pulley 12 is located at the other end 102 of the first fixed frame 10. The diameters of the first output pulley 11 and the first auxiliary pulley 12 may be determined as appropriate depending on the embodiment. In one example, the diameters of the first output pulley 11 and the first auxiliary pulley 12 may be the same. Also, in the example of Figure 1, the first output pulley 11 may be housed in housing 140 together with the first speed-increasing unit 14, and the first auxiliary pulley 12 may be housed in housing 121. Each housing (121, 140) may be omitted. 【0044】 The first belt 13 is stretched between the first output pulley 11 and the first auxiliary pulley 12. In the example shown in Figures 2A and 2B, the first belt 13 is exposed between the respective housings (121, 140). A tensioner 131 is provided near the exit of the housing 121 of the first auxiliary pulley 12 to hold the first belt 13 in place from below. A pair of tensioners (132, 133) are provided above and below the exit of the housing 140 of the first output pulley 11. These tensioners 131-133 maintain the tension of the first belt 13 stretched between the first output pulley 11 and the first auxiliary pulley 12. However, the method for maintaining the tension of the first belt 13 is not limited to this example and may be appropriately modified depending on the embodiment. Also, the state of the first belt 13 is not limited to this example and may be appropriately selected depending on the embodiment. In another example, the first belt 13 may be entirely housed or entirely exposed. In this embodiment, the first belt 13 is positioned on the outside of the first fixed frame 10 (specifically, on the side opposite to where the movable frame 30 is positioned). The positioning of the first belt 13 may be changed as appropriate depending on the embodiment. 【0045】 Note that each end (101, 102) merely indicates the range over which the first belt 13 is stretched, and the first fixed frame 10 may have a shape that extends further from each end (101, 102). That is, positioning the first output pulley 11 at one end 101 means positioning the first output pulley 11 on the one end side relative to the first auxiliary pulley 12. Positioning the first auxiliary pulley 12 at the other end 102 means positioning the first auxiliary pulley 12 on the other end side relative to the first output pulley 11. The first output pulley 11 and the first auxiliary pulley 12 may be positioned near each end of the first fixed frame 10, or they may be positioned away from each end. The relationship between one end 101 and the other end 102 may be reversed. In one example, the axes of the first output pulley 11 and the first auxiliary pulley 12 are oriented in the second direction. As a result, the first output pulley 11 and the first auxiliary pulley 12 are positioned to rotate around the second direction, thereby moving the first belt 13 in the first direction. 【0046】 The first speed-increasing unit 14 is configured to receive the input of a driving force from the first actuator 15 and output the input driving force to the first output pulley 11, thereby increasing the speed of movement of the first belt 13. In this embodiment, the first actuator 15 is composed of a pair of artificial muscles (151, 152). The first actuator 15 in this configuration is an example of a variable stiffness actuator. The type of each artificial muscle (151, 152) may be appropriately selected depending on the embodiment. In one example, each artificial muscle (151, 152) may be a fluid pressure artificial muscle. The fluid may be either a gas or a liquid. The fluid may be appropriately selected from, for example, air, oil, water, etc. As a typical example, each artificial muscle (151, 152) may be a pneumatic artificial muscle. In another example, each artificial muscle (151, 152) may be an artificial muscle other than a fluid pressure artificial muscle, such as a polymer actuator or a dielectric actuator. Furthermore, the arrangement of each artificial muscle (151, 152) may be determined as appropriate depending on the embodiment. In the example shown in Figure 1, the first speed-increasing unit 14 is provided on the second support column 56 side. Accordingly, each artificial muscle (151, 152) may be arranged on the second support column 56. 【0047】 In this embodiment, the first speed-increasing unit 14 includes a first input pulley 141 and an endless first speed-increasing belt 143. The first input pulley 141 includes a coaxial first drive gear 142. That is, the first input pulley 141 and the first drive gear 142 are configured as a two-stage pulley. The first input pulley 141 is positioned to face the same direction as the first output pulley 11. Similarly, the first output pulley 11 includes a coaxial first driven gear 111. That is, the first output pulley 11 and the first driven gear 111 are also configured as a two-stage pulley. 【0048】 The first drive gear 142 is positioned opposite the first driven gear 111. The first speed-increasing belt 143 is stretched between the first drive gear 142 and the first driven gear 111. The positional relationship between the first drive gear 142 and the first driven gear 111 is not limited to this example and may be appropriately changed depending on the embodiment, as long as the first speed-increasing belt 143 can be stretched. On the other hand, the positional relationship between the first input pulley 141 and the first output pulley 11 is arbitrary. The first input pulley 141 may or may not face the first output pulley 11. A pair of tensioners (148, 149) are provided above and below the first drive gear 142 and the first driven gear 111. These tensioners (148, 149) maintain the tension of the first speed-increasing belt 143. The method for maintaining the tension of the first speed-increasing belt 143 is not limited to this example and may be appropriately changed depending on the embodiment. 【0049】 The diameter of the first drive gear 142 is larger than the diameter of the first driven gear 111. The relationships of other diameters may be determined as appropriate depending on the embodiment. In one example, the diameter of the first driven gear 111 may be smaller than the diameter of the first output pulley 11. The diameter of the first drive gear 142 may be larger than the diameter of the first input pulley 141. Of the pair of artificial muscles (151, 152), the wire of one artificial muscle is wrapped around the first input pulley 141 from one direction, and its end is fixed to the first input pulley 141. This configures one artificial muscle to rotate the first input pulley 141 in one direction via the wire. On the other hand, the wire of the other artificial muscle is wrapped around the first input pulley 141 from the other direction, and its end is fixed to the first input pulley 141. This configures the other artificial muscle to rotate the first input pulley 141 in the other direction via the wire. 【0050】 In other words, in the first speed-increasing unit 14 according to this embodiment, the driving force input from the pair of artificial muscles (151, 152) is received by the first input pulley 141. The driving force input to the first input pulley 141 is output to the first output pulley 11 via the first speed-increasing belt 143. At this time, the rotation of the first input pulley 141 is accelerated according to the ratio of the first drive gear 142 and the first driven gear 111 and transmitted to the first output pulley 11. As a result, the first speed-increasing unit 14 accelerates the movement of the first belt 13. 【0051】 The movable frame 30 is configured to move along the first fixed frame 10 and the second fixed frame 20 in accordance with the movement of the first belt 13, by having one end 301 of the movable frame 30 connected to the first belt 13. The method of connecting the movable frame 30 and the first belt 13 is not particularly limited and may be appropriately selected depending on the embodiment. In this embodiment, one end 301 of the movable frame 30 is connected to the first belt 13 via a coupling unit 36. 【0052】 In this embodiment, the second fixed frame 20 is configured in the same way as the first fixed frame 10. That is, the second fixed frame 20 includes a second output pulley 21, a second auxiliary pulley 22, an endless second belt 23, and a second speed-increasing unit 24. 【0053】 The second output pulley 21 is located at one end 201 of the second fixed frame 20. The second auxiliary pulley 22 is located at the other end 202 of the second fixed frame 20. The diameters of the second output pulley 21 and the second auxiliary pulley 22 may be the same. The second output pulley 21 may be housed in a housing 240 together with the second speed-increasing unit 24, and the second auxiliary pulley 22 may be housed in a housing 221. Each housing (221, 240) may be omitted. 【0054】 The second belt 23 is stretched between the second output pulley 21 and the second auxiliary pulley 22. In the example shown in Figure 2B, the second belt 23 is exposed between the respective housings (221, 240). A tensioner 231 is provided near the exit of the housing 221 of the second auxiliary pulley 22 to hold the second belt 23 in place from below. A pair of tensioners (232, 233) are provided above and below the exit of the housing 240 of the second output pulley 21. These tensioners 231-233 maintain the tension of the second belt 23 stretched between the second output pulley 21 and the second auxiliary pulley 22. However, the method of maintaining the tension of the second belt 23 is not limited to this example and may be modified as appropriate depending on the embodiment. Also, the state of the second belt 23 is not limited to this example and may be selected as appropriate depending on the embodiment. In another example, the second belt 23 may be entirely housed or entirely exposed. In this embodiment, the second belt 23 is positioned on the outside of the second fixed frame 20 (specifically, on the side opposite to where the movable frame 30 is positioned). The positioning of the second belt 23 may be changed as appropriate depending on the embodiment. 【0055】 Note that each end (201, 202) merely indicates the area over which the second belt 23 is stretched, and the second fixed frame 20 may have a shape that extends further from each end (201, 202). The second output pulley 21 and the second auxiliary pulley 22 may be positioned near each end of the second fixed frame 20, or they may be positioned away from each end. The relationship between one end 201 and the other end 202 may be reversed. In one example, the axes of the second output pulley 21 and the second auxiliary pulley 22 are oriented in the second direction. As a result, the second output pulley 21 and the second auxiliary pulley 22 are positioned so that they rotate around the second direction, moving the second belt 23 in the first direction. Also, in the example in Figure 1, one end 101 of the first fixed frame 10 faces one end 201 of the second fixed frame 20, and the other end 102 of the first fixed frame 10 faces the other end 202 of the second fixed frame 20. However, the positional relationship of each end is not limited to this example. In another example, one end 101 of the first fixed frame 10 may face the other end 202 of the second fixed frame 20, and the other end 102 of the first fixed frame 10 may face the one end 201 of the second fixed frame 20. 【0056】 The second speed-increasing unit 24 is configured to increase the speed of the movement of the second belt 23 by receiving the input of a driving force from the second actuator 25 and outputting the input driving force to the second output pulley 21. In this embodiment, the second actuator 25 is composed of a pair of artificial muscles (251, 252). This second actuator 25 is an example of a variable stiffness actuator. The type of each artificial muscle (251, 252) may be appropriately selected depending on the embodiment. In one example, each artificial muscle (251, 252) may be a fluid pressure artificial muscle. The fluid pressure artificial muscle may include a hybrid type of artificial muscle configured to output other driving forces, such as electricity, in addition to fluid pressure. In another example, each artificial muscle (251, 252) may be an artificial muscle other than a fluid pressure artificial muscle. The arrangement of each artificial muscle (251, 252) may be appropriately determined depending on the embodiment. In the example in Figure 1, the second speed-increasing unit 24 is provided on the third support column 57 side. Accordingly, each artificial muscle (251, 252) may be positioned on the third support column 57. 【0057】 In this embodiment, the second speed-increasing unit 24 includes a second input pulley 241 and an endless second speed-increasing belt 243. The second input pulley 241 includes a coaxial second drive gear 242. The second input pulley 241 is positioned to face the same direction as the second output pulley 21. Similarly, the second output pulley 21 includes a coaxial second driven gear 211. The second drive gear 242 is positioned to face the second driven gear 211. The second speed-increasing belt 243 is stretched between the second drive gear 242 and the second driven gear 211. The positional relationship between the second drive gear 242 and the second driven gear 211 is not limited to this example and may be appropriately changed depending on the embodiment, as long as the second speed-increasing belt 243 can be stretched between them. On the other hand, the positional relationship between the second input pulley 241 and the second output pulley 21 may be arbitrary. A pair of tensioners (248, 249) are provided above and below the second drive gear 242 and the second driven gear 211. These tensioners (248, 249) maintain the tension of the second speed-increasing belt 243. Note that the method for maintaining the tension of the second speed-increasing belt 243 is not limited to this example and may be modified as appropriate depending on the embodiment. 【0058】 The diameter of the second drive gear 242 is larger than the diameter of the second driven gear 211. The relationships of other diameters may be determined as appropriate depending on the embodiment. In one example, the diameter of the second driven gear 211 may be smaller than the diameter of the second output pulley 21. The diameter of the second drive gear 242 may be larger than the diameter of the second input pulley 241. Of the pair of artificial muscles (251, 252), the wire of one artificial muscle is wrapped around the second input pulley 241 from one direction, and its end is fixed to the second input pulley 241. On the other hand, the wire of the other artificial muscle is wrapped around the second input pulley 241 from the other direction, and its end is fixed to the second input pulley 241. As a result, the second speed-increasing unit 24 increases the speed of the movement of the second belt 23 in the same manner as the first speed-increasing unit 14. 【0059】 The movable frame 30 is configured to move along the first fixed frame 10 and the second fixed frame 20 in accordance with the movement of the second belt 23, by connecting its other end 302 to the second belt 23. The method of connecting the movable frame 30 and the second belt 23 is not particularly limited and may be appropriately selected depending on the embodiment. In this embodiment, the other end 302 of the movable frame 30 is connected to the second belt 23 via a coupling unit 37. 【0060】 (Impedance control) In this embodiment, a pair of artificial muscles (151, 152) are driven in opposition to each other. That is, one of the pair of artificial muscles (151, 152) is connected to rotate the first input pulley 141 in one direction, and the other artificial muscle is connected to rotate it in the other direction. When no other force acts on the movable frame 30, the position of the movable frame 30 is maintained at the equilibrium position of the pair of artificial muscles (151, 152). When the movable frame 30 is moved from this equilibrium position, one of the pair of artificial muscles (151, 152) is shortened and the other is extended. When the movable frame 30 is moved in the opposite direction, one artificial muscle is extended and the other is shortened. This generates a driving force (hereinafter also referred to as a restoring force) in the direction that returns the movable frame 30 to the equilibrium position. From this perspective, each pair of artificial muscles (151, 152) can be considered as a pair of interconnected springs (SP1, SP2). The position where the driving force is in equilibrium can be considered as the equilibrium point BP of the springs (SP1, SP2). The same applies to the pair of artificial muscles (251, 252) in the second fixed frame 20. Furthermore, each speed-increasing unit (14, 24) can move the movable frame 30 in that direction by shifting the position of the equilibrium point BP away from the position of the movable frame 30. 【0061】 In this embodiment, the pair of artificial muscles (151, 152) of the first actuator 15 is an example of a variable stiffness actuator. Similarly, the pair of artificial muscles (251, 252) of the second actuator 25 is also an example of a variable stiffness actuator. A variable stiffness actuator is an actuator whose stiffness can be changed. Since each actuator (15, 25) is composed of a variable stiffness actuator, impedance control of each belt (13, 23) by each speed-increasing unit (14, 24) is possible. By enabling impedance control of at least one of the first belt 13 and the second belt 23, impedance control in the first direction is possible. 【0062】 Figure 2C is a diagram illustrating impedance control by each speed-increasing unit (14, 24) of each fixed frame (10, 20) according to this embodiment. The horizontal axis of the figure shows the contraction rate of one of the pair of artificial muscles (151, 152) (251, 252). Since when one artificial muscle stretches, the other artificial muscle contracts (i.e., the pair of artificial muscles are driven in opposition to each other), the other artificial muscle is shown inverted. The resultant force F3 of the driving force F1 of one artificial muscle and the driving force F2 of the other artificial muscle is the driving force output from each actuator (15, 25). The point T0 where the resultant force F3 is 0 corresponds to the equilibrium point BP. The slope of the resultant force F3 corresponds to the stiffness of each actuator (15, 25). 【0063】 The stiffness of the artificial muscles can be adjusted as needed. When fluid-pressure artificial muscles are used for each artificial muscle (151, 152) (251, 252), the stiffness of each artificial muscle (151, 152) (251, 252) can be increased by increasing the fluid pressure within each artificial muscle (151, 152) (251, 252). This makes it possible to increase the slope of the resultant force F3 with respect to the contraction rate, as shown in Figure 2C. In other words, by making each spring (SP1, SP2) stiffer, the restoring force generated when the movable frame 30 shifts from the equilibrium point BP can be increased. Conversely, by decreasing the fluid pressure, the stiffness of each artificial muscle (151, 152) (251, 252) can be decreased. This makes it possible to reduce the slope of the resultant force F3 with respect to the contraction rate. In other words, by making each spring (SP1, SP2) softer, the restoring force generated when the movable frame 30 shifts from the equilibrium point BP can be reduced. In this embodiment, impedance control in the first direction is possible by changing the stiffness of each actuator (15, 25) in this way. In the example in Figure 2C, a scenario is assumed in which a pair of artificial muscles (151, 152) (251, 252) are in opposition to one artificial muscle completely contracting and the other artificial muscle not contracting at all. However, the opposition state of the pair of artificial muscles (151, 152) (251, 252) is not limited to this example and may be determined as appropriate depending on the embodiment. In the example in Figure 2C, the opposition state may be changed so that at least one of the pair of driving forces (F1, F2) is shifted on the horizontal axis. 【0064】 [Movable frame] Figure 3 schematically shows an example of a movable frame 30 according to this embodiment. In this embodiment, the movable frame 30 has the same configuration as the first fixed frame 10. That is, the movable frame 30 includes a third output pulley 31, a third auxiliary pulley 32, an endless third belt 33, and a third speed-increasing unit 34. 【0065】 The third output pulley 31 is located at one end 301 and the other end 302 of the movable frame 30. The third auxiliary pulley 32 is located at the other end 301 and the other end 302 of the movable frame 30. The diameters of the third output pulley 31 and the third auxiliary pulley 32 may be the same. The third output pulley 31 may be housed in a housing 340 together with the third speed-increasing unit 34, and the third auxiliary pulley 32 may be housed in a housing 321. Each housing (321, 340) may be omitted. 【0066】 The third belt 33 is stretched between the third output pulley 31 and the third auxiliary pulley 32. In the example shown in Figure 3, the third belt 33 is exposed between the respective housings (321, 340). A tensioner 331 is provided near the exit of the housing 321 of the third auxiliary pulley 32 to hold the third belt 33 in place from below. A pair of tensioners (332, 333) are provided above and below the exit of the housing 340 of the third output pulley 31. These tensioners 331-333 maintain the tension of the third belt 33 stretched between the third output pulley 31 and the third auxiliary pulley 32. However, the method for maintaining the tension of the third belt 33 is not limited to this example and may be modified as appropriate depending on the embodiment. Also, the state of the third belt 33 is not limited to this example and may be selected as appropriate depending on the embodiment. In another example, the third belt 33 may be entirely housed or entirely exposed. In the example shown in Figure 3, the third belt 33 is partially omitted. 【0067】 The movable frame 30 may have a shape that extends further from each end (301, 302). One end 301 of the movable frame 30 is supported by the first fixed frame 10, and the other end 302 is supported by the second fixed frame 20. The parts supported by each fixed frame (10, 20) and the parts where each pulley (31, 32) is arranged may overlap or be separated. The third output pulley 31 and the third auxiliary pulley 32 may be arranged near each end of the movable frame 30, or they may be arranged away from each end. Similarly, the movable frame 30 may be supported by each fixed frame (10, 20) near each end, or it may be supported at a position away from each end. Each end (301, 302) may broadly refer to the support portion of each fixed frame (10, 20) and the arrangement portion of each pulley (31, 32). In one example, the axes of the third output pulley 31 and the third auxiliary pulley 32 are oriented in the first direction. As a result, the third output pulley 31 and the third auxiliary pulley 32 are positioned to rotate around the first direction, thereby moving the third belt 33 in the second direction. In the example shown in Figure 3, the third output pulley 31 is located at the other end 302 of the movable frame 30, and the third auxiliary pulley 32 is located at the one end 301. However, the arrangement of the third output pulley 31 and the third auxiliary pulley 32 is not limited to this example. The third output pulley 31 may be located at the one end 301, and the third auxiliary pulley 32 may be located at the other end 302. That is, the third output pulley 31 may be located at one of the two ends 301 and 302 of the movable frame 30, and the third auxiliary pulley 32 may be located at the other end 301 and 302 of the movable frame 30. 【0068】 The third speed-increasing unit 34 is configured to receive the input of driving force from the third actuator 35 and output the input driving force to the third output pulley 31, thereby increasing the speed of movement of the third belt 33. In this embodiment, the third actuator 35 is composed of a pair of artificial muscles (351, 352). This third actuator 35 is an example of a variable stiffness actuator. The type of each artificial muscle (351, 352) may be appropriately selected depending on the embodiment. In one example, each artificial muscle (351, 352) may be a fluid pressure artificial muscle. In another example, each artificial muscle (351, 352) may be an artificial muscle other than a fluid pressure artificial muscle. The arrangement of each artificial muscle (351, 352) may be appropriately determined depending on the embodiment. In the examples of Figures 1 and 3, each artificial muscle (351, 352) is arranged on the upper part of the movable frame 30 and on the side of one end 301. The wires of each artificial muscle (351, 352) extend from here and are input to the third speed-increasing unit 34. 【0069】 In this embodiment, the third speed-increasing unit 34 comprises a third input pulley 341 and an endless third speed-increasing belt 343. The third input pulley 341 includes a coaxial third drive gear 342. The third input pulley 341 is positioned to face the same direction as the third output pulley 31. Similarly, the third output pulley 31 includes a coaxial third driven gear 311. The third drive gear 342 is positioned to face the third driven gear 311. The third speed-increasing belt 343 is stretched between the third drive gear 342 and the third driven gear 311. The positional relationship between the third drive gear 342 and the third driven gear 311 is not limited to this example and may be appropriately changed depending on the embodiment, as long as the third speed-increasing belt 343 can be stretched across them. On the other hand, the positional relationship between the third input pulley 341 and the third output pulley 31 may be arbitrary. A pair of tensioners (348, 349) are provided above and below the third drive gear 342 and the third driven gear 311. These tensioners (348, 349) maintain the tension of the third speed-increasing belt 343. Note that the method for maintaining the tension of the third speed-increasing belt 343 is not limited to this example and may be modified as appropriate depending on the embodiment. 【0070】 The diameter of the third drive gear 342 is larger than the diameter of the third driven gear 311. The relationships of other diameters may be determined as appropriate depending on the embodiment. In one example, the diameter of the third driven gear 311 may be smaller than the diameter of the third output pulley 31. The diameter of the third drive gear 342 may be larger than the diameter of the third input pulley 341. Of the pair of artificial muscles (351, 352), the wire of one artificial muscle is wrapped around the third input pulley 341 from one direction, and its end is fixed to the third input pulley 341. On the other hand, the wire of the other artificial muscle is wrapped around the third input pulley 341 from the other direction, and its end is fixed to the third input pulley 341. As a result, the third speed-increasing unit 34 increases the speed of the movement of the third belt 33 in the same manner as the first speed-increasing unit 14, etc. 【0071】 The movable unit 40 is supported by the movable frame 30 and connected to the third belt 33. This configuration allows the movable unit 40 to move along the movable frame 30 in accordance with the movement of the third belt 33. The method of connecting the movable unit 40 and the third belt 33 is not particularly limited and may be appropriately selected depending on the embodiment. An example of the method of connecting the movable unit 40 will be described later. 【0072】 In this embodiment, the pair of artificial muscles (351, 352) of the third actuator 35 is an example of a variable stiffness actuator. The pair of artificial muscles (351, 352) operate in the same manner as the pair of artificial muscles (151, 152) described above. Therefore, in this embodiment, impedance control in the second direction is possible by the third speed-increasing unit 34 of the movable frame 30, similar to the first direction. By increasing the stiffness of each artificial muscle (351, 352), the moving unit 40 can be supported more rigidly in the second direction, and the restoring force generated when the moving unit 40 shifts from the equilibrium point in the second direction can be increased. On the other hand, by decreasing the stiffness of each artificial muscle (351, 352), the moving unit 40 can be supported more softly in the second direction, and the restoring force generated when the moving unit 40 shifts from the equilibrium point in the second direction can be reduced. The stiffness in the first and second directions may be controlled as appropriate. 【0073】 In this embodiment, an endless belt is used for each belt (13, 23, 33) and each speed-increasing belt (143, 243, 343). The endless belt may be produced by any method. In one example, the belt may be formed endlessly from the start. In another example, the endless belt may be formed by connecting the ends of a single belt. Furthermore, the form of the belt is not particularly limited as long as it can achieve its respective purpose, and may be appropriately selected depending on the embodiment. In one example, the belt may include a chain and a wire in addition to a general belt. 【0074】 (Support part) Figure 4A is a schematic perspective view showing an example of the support portion of the movable frame 30 and the first fixed frame 10 according to this embodiment. Figure 4B is a schematic partial cross-sectional view showing an example of the support portion of the movable frame 30 and the first fixed frame 10 (second fixed frame 20) according to this embodiment. Note that in Figure 4B, the upper circumference of the first belt 13 is omitted. 【0075】 In this embodiment, one end 301 of the movable frame 30 is supported by the first fixed frame 10 and connected to the first belt 13 via a coupling unit 36. The configuration of the coupling unit 36 ​​may be determined as appropriate depending on the embodiment. In one example, the coupling unit 36 ​​comprises a pair of first members 360, a second member 361, a slide unit 362, a third member 363, a fourth member 364, and a fifth member 365. Each first member 360 is formed in a flat plate shape. The pair of first members 360 are fixed on the lower side of the movable frame 30, sandwiching one end 301 of the movable frame 30. Each first member 360 extends slightly downward from the movable frame 30 and is fixed to one end of the second member 361. In this way, the pair of first members 360 connect one end 301 of the movable frame 30 to the second member 361. 【0076】 In this embodiment, the first belt 13 is positioned on the outside of the first fixed frame 10 (i.e., on the opposite side from the movable frame 30). Accordingly, the second member 361 is formed in a flat plate shape and extends from one end 301 of the movable frame 30, passing under the first fixed frame 10, and outwards from the first fixed frame 10. The other end of the second member 361 is connected to the fourth member 364 via a flat plate-shaped third member 363. One end of the third member 363 is fixed to the other end of the second member 361, and the other end of the third member 363 is fixed to one end of the fourth member 364. The fourth member 364 is formed in a flat plate shape and extends from the other end of the third member 363, passing under the first belt 13 (lower circumference), to slightly outside the first belt 13. The fourth member 364 is fixed to a flat plate-shaped fifth member 365 at the other end, sandwiching the first belt 13. As a result, one end 301 of the movable frame 30 is connected to the first belt 13. 【0077】 In this embodiment, the first fixed frame 10 has an internal space 190 with a substantially rectangular cross-section at its lower side, and this internal space 190 communicates with the outer space via a groove 193 provided at the lower end of the first fixed frame 10. Each edge (191, 192) located in the width direction (second direction) of the groove 193 is bent inward, so that the width of the groove 193 is narrower than the width of the internal space 190. The internal space 190 and each edge (191, 192) constitute a linear guide. The slide unit 362 enters the internal space 190 from the lower side of the first fixed frame 10 through the groove 193, and is supported by the first fixed frame 10 by catching on each edge (191, 192), and is configured to slide using each edge (191, 192) as a track. 【0078】 In one example, the slide unit 362 comprises a base 3620, a pair of vertical wheels (3621, 3622), and a pair of horizontal wheels (3623, 3624). The lower end of the base 3620 is fixed to the second member 361. The length of the base 3620 in the width direction (left-right direction in Figure 4B) is shorter than the groove 193, so that the base 3620 extends upward from the second member 361 and enters the internal space 190. 【0079】 In the internal space 190, a pair of vertical wheels (3621, 3622) are rotatably connected to the base 3620 via an axle in the width direction. The distance between the pair of vertical wheels (3621, 3622) (length in the left-right direction in Figure 4B) is approximately the same as or wider than the width of the groove 193, so that the slide unit 362 catches on each edge (191, 192). Also, the thickness of each vertical wheel (3621, 3622) is approximately the same as or narrower than the width of the bent portion (track) of each edge (191, 192). As each vertical wheel (3621, 3622) rotates using the upper end of each edge (191, 192) as a track, the movable frame 30 can slide along the first fixed frame 10 via the slide unit 362. 【0080】 Furthermore, within the internal space 190, a pair of horizontal wheels (3623, 3624) are rotatably connected to the base 3620 in the width direction, so as not to interfere with each of the vertical wheels (3621, 3622). Horizontal wheel 3623 is positioned near the inner wall surface on the edge 191 side of the first fixed frame 10. On the other hand, horizontal wheel 3624 is positioned near the inner wall surface on the edge 192 side of the first fixed frame 10. The pair of horizontal wheels (3623, 3624) can receive the axial load on the axis of the pair of vertical wheels (3621, 3622), which act as guides, by contacting the inner wall surfaces in their respective directions. This allows the movable frame 30 to slide smoothly. 【0081】 The configuration of the slide unit 362 may be modified as appropriate depending on the embodiment. For example, the number and arrangement of the vertical wheels (3621, 3622) and horizontal wheels (3623, 3624) are not limited to the example in Figure 4B and may be modified as appropriate depending on the embodiment. Also, for example, if a gap is formed between the base 3620 and the upper end surface of the internal space 190, one or more vertical wheels may be attached to the base 3620 to fill this gap. This allows the pair of vertical wheels (3621, 3622) to receive radial loads on their axes, and as a result, the sliding of the movable frame 30 can be made even smoother. In this embodiment, with such a slide unit 362, one end 301 of the movable frame 30 is supported by the first fixed frame 10 at approximately the same height as the first fixed frame 10. 【0082】 Figure 4C is a schematic partial cross-sectional view showing an example of the support portion of the movable frame 30 and the second fixed frame 20 according to this embodiment. Note that the upper circumference of the second belt 23 is omitted in Figure 4C. In this embodiment, the other end 302 of the movable frame 30 is supported by the second fixed frame 20 and connected to the second belt 23 via a coupling unit 37. The configuration of the coupling unit 37 may be determined as appropriate depending on the embodiment. In one example, the coupling unit 37 may have the same configuration as the coupling unit 36 ​​described above. That is, the coupling unit 37 comprises a pair of first members 370, a second member 371, a slide unit 372, a third member 373, a fourth member 374, and a fifth member 375. The pair of first members 370 connect the other end 302 of the movable frame 30 and the second member 371. 【0083】 In this embodiment, the second belt 23 is positioned on the outside of the second fixed frame 20 (i.e., on the opposite side from the movable frame 30). Accordingly, the second member 371 extends from the other end 302 of the movable frame 30, through the underside of the second fixed frame 20, and outwards from the second fixed frame 20. The other end of the second member 371 is connected to the fourth member 374 via the third member 373. The fourth member 374 extends from the other end of the third member 373, through the underside of the second belt 23 (lower circumference), and slightly outside the second belt 23. The fourth member 374 is fixed to the fifth member 375 with the second belt 23 sandwiched between them. As a result, the other end 302 of the movable frame 30 is connected to the second belt 23. 【0084】 Furthermore, in this embodiment, the second fixed frame 20 has an internal space 290 with a substantially rectangular cross-section at its lower side, and this internal space 290 communicates with the outer space via a groove 293 provided at the lower end of the second fixed frame 20. Each edge (291, 292) located in the width direction of the groove 293 is bent inward, so that the width of the groove 293 is narrower than the width of the internal space 290. The slide unit 372 enters the internal space 290 from the lower side of the second fixed frame 20 through the groove 293, and is supported by the second fixed frame 20 by catching on each edge (291, 292), and is configured to slide using each edge (291, 292) as a track. 【0085】 In one example, the slide unit 372 comprises a base 3720, a pair of vertical wheels (3721, 3722), and a pair of horizontal wheels (3723, 3724). The lower end of the base 3720 is fixed to the second member 371. The widthwise length of the base 3720 is shorter than the groove 293, so that the base 3720 extends upward from the second member 371 and enters the internal space 290. 【0086】 In the internal space 290, a pair of vertical wheels (3721, 3722) are rotatably connected to the base 3720 via an axle in the width direction. The pair of vertical wheels (3721, 3722) are configured similarly to the pair of vertical wheels (3621, 3622) mentioned above. The slide unit 372 hooks onto each edge (291, 292) by the pair of vertical wheels (3721, 3722). As each vertical wheel (3721, 3722) rotates using the upper end of each edge (291, 292) as a track, the movable frame 30 can slide along the second fixed frame 20 via the slide unit 372. 【0087】 Furthermore, within the internal space 290, a pair of horizontal wheels (3723, 3724) are rotatably connected to the base 3720 in the width direction, so as not to interfere with each of the vertical wheels (3721, 3722). Horizontal wheel 3723 is positioned near the inner wall surface on the edge 291 side of the second fixed frame 20. On the other hand, horizontal wheel 3724 is positioned near the inner wall surface on the edge 292 side of the second fixed frame 20. The pair of horizontal wheels (3723, 3724) can receive the axial load on the axis of the pair of vertical wheels (3721, 3722), which act as guides, by contacting the inner wall surfaces in their respective directions. This allows the movable frame 30 to slide smoothly. 【0088】 The configuration of the slide unit 372 may be modified as appropriate depending on the embodiment. For example, the number and arrangement of the vertical wheels (3721, 3722) and horizontal wheels (3723, 3724) are not limited to the example in Figure 4C and may be modified as appropriate depending on the embodiment. Also, for example, if a gap is formed between the base 3720 and the upper end surface of the internal space 290, one or more vertical wheels may be attached to the base 3720 to fill this gap. This allows the radial load on the axis of the pair of vertical wheels (3721, 3722) to be received, and as a result, the sliding of the movable frame 30 can be made even smoother. In addition, each component of the coupling unit 37 may be configured in the same way as each component of the coupling unit 36. In this embodiment, with such a slide unit 372, the other end 302 of the movable frame 30 is supported by the second fixed frame 20 at approximately the same height as the second fixed frame 20. 【0089】 [Mobile Unit] Figures 5A and 5B are schematic perspective and partial cross-sectional views showing an example of the mobile unit 40 according to this embodiment. In this embodiment, the mobile unit 40 comprises a pair of base parts (41, 42), a rotating unit 43, a sliding unit 45, and a connecting part 46. 【0090】 A pair of base parts (41, 42) are examples of base parts of the present disclosure. The pair of base parts (41, 42) have cavities (410, 420) that open in the vertical direction. The rotating unit 43 is configured to rotate around the cavities (410, 420) in the vertical direction. Rotating in the vertical direction corresponds to rotating with the vertical direction as the axis of rotation. The axis of rotation may be inclined from the vertical direction in response to the shaking of the moving unit 40, etc. Rotating in the vertical direction may include rotating on such an inclined axis of rotation. The rotating unit 43 comprises a first moving part 434 and a second moving part 435. The first moving part 434 is located outside the cavities (410, 420) and is configured to rotate in the vertical direction in response to the rotation of the rotating unit 43. The first moving part 434 includes a first holding part 436. The second movable part 435 is positioned outside the cavities (410, 420) and spaced vertically apart from the first movable part 434, and is configured to rotate vertically in accordance with the rotation of the rotating unit 43 while maintaining its positional relationship with the first movable part 434. The second movable part 435 includes a second holding part 437. Such a rotating unit 43 may be configured as appropriate depending on the embodiment. 【0091】 In one example, the rotating unit 43 further comprises a central portion 431, a first arm portion 432, and a second arm portion 433. In this embodiment, each portion 431 to 435 of the rotating unit 43 is formed in a flat plate shape and has a bent shape at the portion of each arm portion (432, 433). The central portion 431 is supported by a pair of base portions (41, 42) so as to be rotatable around the vertical direction. In this embodiment, the upper base portion 41 is formed in a cylindrical shape. The lower base portion 42 is circular in shape with a larger diameter than the upper base portion 41, and has a shape in which the diameter remains constant as it moves downward, then the diameter decreases once, and then the diameter increases again. The central portion 431 is supported by the pair of base portions (41, 42) by being rotatably sandwiched between the upper base portion 41 and the lower base portion 42. The central portion 431 also has a hollow portion 430 that opens in the vertical direction. The hollow section 430 communicates with the cavities (410, 420) of the pair of base sections (41, 42). 【0092】 A thrust bearing may be placed between the central portion 431 and the lower base portion 42. The thrust bearing can receive the axial load on the rotation axis of the rotating unit 43. This makes the rotation of the rotating unit 43 smoother. In addition, a hollow shaft may be provided in the central portion 431, and a radial bearing may be placed on this hollow shaft. The radial bearing also makes the rotation of the rotating unit 43 smoother. 【0093】 In the example shown in Figure 5B, the first arm 432 has a shape that extends inclined vertically downward from the central part 431. The first arm 432 is configured to connect the central part 431 and the first movable part 434. Note that the direction in which the first arm 432 extends is not limited to this example. In another example, the first arm 432 may have a shape that extends vertically downward from the central part 431. Similarly, the second arm 433 has a shape that extends inclined vertically downward from the central part 431. The second arm 433 is configured to connect the central part 431 and the second movable part 435. The direction in which the second arm 433 extends is not limited to this example. In another example, the second arm 433 may have a shape that extends vertically downward from the central part 431. Furthermore, the extending shape of each arm (432, 433) may include at least a partially curved shape. In this embodiment, the first movable part 434 and the second movable part 435 are connected via the central part 431 and each arm part (432, 433), and are configured to rotate in accordance with the rotation of the central part 431. As a result, the first movable part 434 and the second movable part 435 can rotate while maintaining a spaced-out position around the vertical. The positional relationship between the first movable part 434 and the second movable part 435 is not particularly limited and may be determined as appropriate depending on the embodiment. In one example, the first movable part 434 and the second movable part 435 may be arranged so as to be spaced 180 degrees apart in the circumferential direction. 【0094】 In this embodiment, the movable frame 30 has a U-shaped groove 385 on its upper side. The upper end of the groove 385 is open. Also, on the side opposite to the third belt 33, an L-shaped bracket 38 is attached to the upper side wall of the movable frame 30. One or more linear structures of devices to be attached to the movable unit 40 can be placed in the groove 385 and the bracket 38. The type of linear structure is not particularly limited and may be appropriately selected depending on the embodiment. The linear structure may include cables, tubes, harnesses, other objects that are wired or piped, or composites thereof. Cables may be, for example, Bowden cables, power cables, signal lines, communication cables, etc. Tubes may be, for example, air tubes, etc. 【0095】 The upper base portion 41 is provided with a pair of guide portions (441, 442). Guide portion 441 extends from the side wall of the upper base portion 41 on the groove 385 side upwards to the movable frame 30 and is configured to pull a linear structure placed in the groove 385 toward the upper base portion 41. Guide portion 442 extends from the side wall of the upper base portion 41 on the bracket 38 side upwards to the movable frame 30 and is configured to pull a linear structure placed on the bracket 38 toward the upper base portion 41. The pair of base portions (41, 42) are configured to supply one or more linear structures pulled in by the pair of guide portions (441, 442) vertically downwards from vertically above, passing through the cavities (410, 420). In this embodiment, one or more linear structures are supplied from above to below the moving unit 40 by passing through the cavity 410 of the upper base portion 41, the hollow portion 430 of the central portion 431, and the cavity 420 of the lower base portion 42 in that order. The pair of guide portions (441, 442) may be omitted. In this case, one or more linear structures may be directly drawn into the pair of base portions (41, 42). 【0096】 In one example, multiple linear structures may be supplied vertically downward from the moving unit 40 by a pair of base sections (41, 42). In this case, the multiple linear structures may include a first linear structure and a second linear structure. The first holding section 436 of the first moving section 434 may be configured to hold the first end of a curl formed when the first linear structure hangs vertically downward from the cavity (410, 420) and is then routed vertically upward. The first linear structure may hang further vertically downward from the first end. Similarly, the second holding section 437 of the second moving section 435 may be configured to hold the second end of a curl formed when the second linear structure hangs vertically downward from the cavity (410, 420) and is then routed vertically upward. The second linear structure may hang further vertically downward from the second end. Furthermore, the configuration of each holding part (436, 437) is not particularly limited as long as it can hold (restrain) a linear structure, and may be appropriately selected depending on the embodiment. Each holding part (436, 437) may be composed of, for example, a bolt for holding a wire. 【0097】 In this embodiment, the pair of base parts (41, 42) are provided with cavities (410, 420), allowing multiple linear structures to be supplied in a concentrated state below the moving unit 40. This makes it easier to handle multiple linear structures. In addition, in the rotating unit 43, the first moving part 434 and the second moving part 435 are arranged spaced apart in the circumferential direction. After the first and second linear structures form a curl, they are held by the first and second moving parts 434 and 435 and handled so as to hang vertically downward. The spaced-apart arrangement of the first and second linear structures maintains their spaced-apart state. Furthermore, even when the rotating unit 43 rotates vertically, each linear structure has enough clearance for the curled portion (i.e., the curled portion is unwound for winding by rotation), so the portions hanging from each moving part (434, 435) can rotate while maintaining their spaced-apart state. Therefore, according to this embodiment, multiple linear structures can be supplied below the moving unit 40 while spaced apart, and this spaced-apart state can be maintained even when the unit rotates around the vertical direction. 【0098】 Furthermore, in this embodiment, each movable part (434, 435) is positioned below the rotating part (central part 431) of the rotating unit 43. This allows the other movable part (434, 435) to act as a stopper when one of the pair of movable parts (434, 435) shifts. For example, if the rotating unit 43 shifts towards the first movable part 434, the inner walls of the second arm part 433 and the second movable part 435 will come into contact with the lower base part 42, thereby preventing the rotating unit 43 from shifting. In addition, the balancing effect can be used to improve the stability of the rotation of the rotating unit 43. 【0099】 As shown in Figures 1, 3, and 5A, in one example of this embodiment, a load-bearing support device 60 may be attached to the mobile unit 40. The load-bearing support device 60 includes a pair of artificial muscles (601, 602), a pair of wires (603, 604), and a pair of attachments (606, 607). One of the pair of wires (603, 604) is an example of a first linear structure of the load-bearing support device 60, and the other is an example of a second linear structure of the load-bearing support device 60. 【0100】 The user W of this weight-bearing relief device 60 wears a pair of attachments (606, 607) on both sides. Artificial muscle 601 transmits weight-bearing force to attachment 606 via wire 603. Artificial muscle 602 transmits weight-bearing force to attachment 607 via wire 604. As a result, the weight-bearing relief device 60 can relieve at least a portion of the user W's weight. Similar to each artificial muscle (151, 152), the type of each artificial muscle (601, 602) is not particularly limited and may be appropriately selected depending on the embodiment. In a typical example, each artificial muscle (601, 602) may be a pneumatic artificial muscle. Each wire (603, 604) may be, for example, a Bowden cable. 【0101】 The drive source for the load-relieving device 60 may be appropriately selected depending on the embodiment. In one example, if each artificial muscle (601, 602) is a pneumatic artificial muscle, the load-relieving device 60 may be equipped with a compressor and an air valve. The compressor may be connected to the air valve, and the air pressure inside the pneumatic artificial muscle may be adjusted by opening and closing the air valve. The load-relieving device 60 may also be equipped with a control device configured to control the operation of each artificial muscle (601, 602). The compressor, air valve, and control device may be appropriately arranged to drive the pair of artificial muscles (601, 602). In this case, the control device can adjust the load-relieving force of each artificial muscle (601, 602) by controlling the opening and closing of the air valve. The configuration of the load-relieving device 60 is not particularly limited and may be appropriately selected depending on the embodiment. For example, known configurations such as those described in Patent Document 1 may be adopted for the load-relieving device 60. The types of each artificial muscle (601, 602) may be arbitrarily selected. 【0102】 In this embodiment, the same routing of the moving unit 40 and the rotating unit 43 as described above may be used for the pair of wires (603, 604) in the load-relieving device 60. In one example, the pair of artificial muscles (601, 602) may be positioned at the upper end of one end 301 of the movable frame 30, similar to the third actuator 35. Each wire (603, 604) extending from each artificial muscle (601, 602) is extended towards the other end 302 within the groove 385 and bracket 38 on the upper end side of the movable frame 30, then folded back and routed towards the moving unit 40. This ensures that the portion of each wire (603, 604) that can be fed out for the movement of the moving unit 40 is secured at the upper end side of the movable frame 30. In the example of Figure 5B, wire 603 is positioned in the bracket 38 and wire 604 is positioned in the groove 385. As shown in Figure 5B, cable bearings (CB1, CB2) may be attached to a portion of each wire (603, 604) routed at the upper end of the movable frame 30 in order to improve its ability to follow the movement of the movable unit 40. Each guide section (441, 442) may be configured to pull in a linear structure from the tip of each cable bearing (CB1, CB2). 【0103】 The pair of wires (603, 604) may be routed toward the mobile unit 40 and then drawn toward the upper base 41 via a pair of guides (441, 442). After being drawn toward the upper base 41, the pair of wires (603, 604) may pass through the cavity 410 of the upper base 41, the hollow section 430 of the central section 431, and the cavity 420 of the lower base 42 in that order, and be supplied downward to the mobile unit 40. 【0104】 Then, one of the pair of wires (603, 604) may be routed vertically upward after hanging vertically downward from the cavity 420 to form a curl, and the end of the curl formed on one of the wires may be held by the first holding part 436 of the first moving part 434. This end of the curl is an example of a first end. The other wire may hang further vertically downward from the end of the curl toward one of the left or right sides of the user W of the load-relieving device 60. Similarly, the other wire may be routed vertically upward after hanging vertically downward from the cavity 420 to form a curl, and the end of the curl formed on the other wire may be held by the second holding part 437 of the second moving part 435. This end of the curl is an example of a second end. The other wire may hang further vertically downward from the end of the curl toward the other of the left or right sides of the user W of the load-relieving device 60. 【0105】 In the examples shown in Figures 3 and 5A, wire 603 forms a curl 6031 by hanging vertically downward from the cavity 420 and then being routed vertically upward, and the end of the formed curl 6031 is held by the first holding part 436. Wire 603 hangs further vertically downward from the end of this curl 6031 and is connected to the right-side attachment 606 of the user W. Meanwhile, wire 604 forms a curl 6041 by hanging vertically downward from the cavity 420 and then being routed vertically upward, and the end of the formed curl 6041 is held by the second holding part 437. Wire 604 hangs further vertically downward from the end of this curl 6041 and is connected to the left-side attachment 607 of the user W. Each holding part (436, 437) may hold the ends of the curled portions of each wire (603, 604) while maintaining the curls (6031, 6041). In this embodiment, the pair of wires (603, 604) of the load-relieving device 60 are supplied to the user W in a spaced-out state, and this spaced-out state can be maintained even when the user W rotates in the vertical direction. Therefore, even if the user W rotates, the attachment state of each attachment (606, 607) can be maintained. This improves the ease of attachment of the load-relieving device 60. 【0106】 Furthermore, hanging down vertically means lowering the vertical position. Hanging down vertically may include, at least partially, extending linearly downward vertically, hanging with a vertical inclination, hanging with a vertical curve, etc. The hanging shape of a linear structure is not particularly limited. Handling vertically upward means handling in a way that raises the vertical position. Handling vertically may include, at least partially, extending linearly upward vertically, extending with a vertical inclination, extending with a vertical curve, etc. The shape of a linear structure handled vertically upward is not particularly limited. Handling vertically upward may include a portion hanging vertically downward. Also, the shape of the curled portion is not limited to the shape exemplified in Figures 1, 3 and 5A, as long as it constitutes an excess portion for the rotation of the rotating unit 43, and may be appropriately modified depending on the embodiment. In one example, the curled portion may have a shape that is wound multiple times. 【0107】 (joint part) In this embodiment, the third belt 33 is positioned on the outside of the movable frame 30 (right side in Figure 5B). Accordingly, the connecting portion 46 comprises a first member 461 and a second member 462. One end of the first member 461 is fixed to the upper end of the upper base portion 41. The first member 461 is formed in a flat plate shape and extends from the upper base portion 41, passing under the third belt 33, to slightly outside the third belt 33. At the other end, the first member 461 is fixed to the flat plate-shaped second member 462, sandwiching the third belt 33 between them. As a result, the movable unit 40 is connected to the third belt 33. 【0108】 Furthermore, in this embodiment, the movable frame 30, like the first fixed frame 10 described above, has an internal space 390 with a substantially rectangular cross-section at its lower side. A partition wall is provided between this internal space 390 and the groove 385 on the upper side, so that the internal space 390 does not communicate with the groove 385. On the other hand, this internal space 390 communicates with the outer space via a groove 393 provided at the lower end of the movable frame 30. Each edge (391, 392) located in the width direction of the groove 393 is bent inward, so that the width of the groove 393 is narrower than the width of the internal space 390. The slide unit 45 enters the internal space 390 from the lower side of the movable frame 30 through the groove 393, and is supported by the movable frame 30 by catching on each edge (391, 392), and is configured to slide using each edge (391, 392) as a track. 【0109】 In one example, the slide unit 45 may be configured in the same way as the slide units (362, 372) described above. That is, the slide unit 45 comprises a base 450, a pair of vertical wheels (451, 452), and a pair of horizontal wheels (453, 454). The lower end of the base 450 is fixed to the upper end of the upper base portion 41. The widthwise length of the base 450 is shorter than the groove 393, so that the base 450 extends upward from the upper base portion 41 and enters the internal space 390. 【0110】 In the internal space 390, a pair of vertical wheels (451, 452) are rotatably connected to the base 450 via an axle in the width direction. The pair of vertical wheels (451, 452) may be configured similarly to the pair of vertical wheels (3621, 3622) (3721, 3722) mentioned above. The slide unit 45 hooks onto each edge (391, 392) by the pair of vertical wheels (451, 452). As each vertical wheel (451, 452) rotates and moves using the upper end of each edge (391, 392) as a track, the moving unit 40 can slide along the movable frame 30 via the slide unit 45. 【0111】 Furthermore, within the internal space 390, a pair of horizontal wheels (453, 454) are rotatably connected to the base 450 in the width direction, so as not to interfere with each of the vertical wheels (451, 452). The horizontal wheel 453 is positioned near the inner wall surface on the edge 391 side of the movable frame 30. On the other hand, the horizontal wheel 454 is positioned near the inner wall surface on the edge 392 side of the movable frame 30. The pair of horizontal wheels (453, 454) can receive the axial load on the axis of the pair of vertical wheels (451, 452), which act as guides, by contacting the inner wall surfaces in their respective directions. This allows the sliding of the mobile unit 40 to be smooth. 【0112】 The configuration of the slide unit 45 may be modified as appropriate depending on the embodiment. For example, the diagram and arrangement of the vertical wheels (451, 452) and horizontal wheels (453, 454) are not limited to the example in Figure 5B and may be modified as appropriate depending on the embodiment. Also, for example, if a gap is formed between the base 450 and the upper end surface of the internal space 390, one or more vertical wheels may be attached to the base 450 to fill this gap. This allows the pair of vertical wheels (451, 452) to receive radial loads on their axes, and as a result, the sliding of the mobile unit 40 can be made even smoother. In this embodiment, with such a slide unit 45, the mobile unit 40 is supported by the movable frame 30 below the movable frame 30. 【0113】 [Artificial muscle] Figure 6 schematically shows an example of the general configuration of the artificial muscle 500 according to this embodiment. In the example in Figure 6, a scenario in which a pneumatic artificial muscle is used as the artificial muscle 500 is assumed. The artificial muscle 500 according to this embodiment comprises a chamber 501, a pair of ends (502, 503), a pipe cylinder 504, a wire 505, a stopper 506, and an elastic member 507. The chamber 501 is made of a flexible material. The chamber 501 is filled with compressed air, thereby converting the air pressure into tension in the artificial muscle 500. The pair of ends (502, 503) seal the chamber 501 from the outside. A supply port 509 is provided at the lower end 503, and the supply port 509 is connected to an air valve. The air valve is connected to a compressor. By opening the air valve, compressed air is supplied into the chamber 501 via the supply port 509. The pipe cylinder 504 is connected to the end 502 so as to seal the atmospheric pressure inside the pipe cylinder 504 and the air pressure in the chamber 501. 【0114】 The wire 505 extends from its lower end inside the pipe cylinder 504 through its upper end 502 to the outside. The wire 505 is used to output a driving force to the outside. The stopper 506 is configured to transmit the driving force to the wire 505 when the artificial muscle 500 contracts in the direction of pulling the wire 505. In one example, the stopper 506 is attached to the end 502 side of the wire 505 and is formed to be larger than the through hole of the wire 505. When the artificial muscle 500 contracts in the direction of pulling the wire 505, the stopper 506 engages with the end 502 on its lower surface, thereby transmitting the contraction force of the artificial muscle 500 to the wire 505. The elastic member 507 is configured to maintain the tension of the wire 505 when the artificial muscle 500 relaxes and the stopper 506 disengages. The type of elastic member 507 is not particularly limited and may be appropriately selected depending on the embodiment. The elastic member 507 may be, for example, a spring. The configuration of the artificial muscle 500 may be modified as appropriate depending on the embodiment. Other components of the artificial muscle 500 may include known configurations such as those described in Patent Document 2. For example, the portion of the wire 505 exposed from the end 502 may be covered with a sleeve or the like. The artificial muscle 500 may also be configured to allow measurement of its contraction rate by any method, such as a scaler and an encoder. 【0115】 In the above embodiment, the artificial muscles 500 shown in Figure 6 may be used as each artificial muscle (151, 152) of the first actuator 15. In this case, the artificial muscles 500 in the above description may be replaced with each artificial muscle (151, 152). The driving force of each artificial muscle (151, 152) is input to the first speed-increasing unit 14 via the wire 505. Similarly, the artificial muscles 500 shown in Figure 6 may be used as each artificial muscle (251, 252) of the second actuator 25. In this case, the artificial muscles 500 in the above description may be replaced with each artificial muscle (251, 252). The driving force of each artificial muscle (251, 252) is input to the second speed-increasing unit 24 via the wire 505. The artificial muscles 500 shown in Figure 6 may be used as each artificial muscle (351, 352) of the third actuator 35. In the above description, the artificial muscle 500 may be replaced with individual artificial muscles (351, 352). The driving force of each artificial muscle (351, 352) is input to the third speed-increasing unit 34 via the wire 505. 【0116】 In this artificial muscle 500, when the wire 505 is stretched, the stopper 506 stops the movement of the wire 505. On the other hand, when the wire is pulled back, the stopper 506 is released, allowing the wire 505 to move freely, while the tension of the wire 505 is maintained by the elastic member 507. As a result, the wire 505 can be moved freely by hand within a certain range. By using the artificial muscle 500 as each artificial muscle (151, 152) of the first actuator 15, it is possible to set a range in which the movable frame 30 can be freely moved in the first direction. The same applies when using the artificial muscle 500 as each artificial muscle (251, 252) of the second actuator 25. Furthermore, by using the artificial muscle 500 as each artificial muscle (351, 352) of the third actuator 35, it is possible to set a range in which the movable unit 40 can be freely moved in the second direction. Furthermore, the artificial muscle 500 may also be used in each artificial muscle (601, 602) of the weight-bearing support device 60. 【0117】 [Control device] As shown in Figure 1, in this embodiment, the control device 70 is used to control the operation of each actuator (15, 25, 35). The control device 70 is one or more computers configured to control the operation of each actuator (15, 25, 35). In one example, a different computer may be used as the control device 70 for each actuator (15, 25, 35). In another example, the same computer may be used as the control device 70 for at least two combinations of the three actuators (15, 25, 35). 【0118】 The control device 70 may appropriately control the operation of each actuator (15, 25, 35). This control may include directly controlling each actuator (15, 25, 35) and indirectly controlling each actuator (15, 25, 35) via an external device such as a controller. The control device 70 may be directly or indirectly connected to each actuator (15, 25, 35). Indirect connection means connecting via another external device such as a computer. 【0119】 Furthermore, the operating criteria for each actuator (15, 25, 35) may be determined as appropriate depending on the embodiment. The control device 70 may acquire information, determine the operation of each actuator (15, 25, 35) according to the acquired information, and control each actuator (15, 25, 35) to execute the determined operation. 【0120】 For example, the sensor SE may be used to observe an object related to the mobile unit 40 (e.g., the user W of the load-bearing device 60). The type of sensor SE may be appropriately selected depending on the content to be observed. The control device 70 may be connected directly or indirectly to the sensor SE. The control device 70 may acquire observation data (measurement data) of the object from the sensor SE and analyze the acquired observation data as appropriate. The control device 70 may control the operation of each actuator (15, 25, 35) according to the obtained analysis results. 【0121】 As a specific example, in the case where the load-relieving device 60 described above is used, the control device 70 may measure the position of the user W using the sensor SE. The control device 70 may then control the operation of each actuator (15, 25, 35) according to the position measurement result. In this case, the sensor SE may be a sensor capable of measuring position, such as an image sensor (camera). The sensor SE may be held by the user W, or it may be positioned to observe the user W from the outside. 【0122】 The method for driving each actuator (15, 25, 35) may be appropriately selected depending on the type of actuator (15, 25, 35), etc. As a typical example, when the artificial muscles 500 (pneumatic artificial muscles) shown in Figure 6 above are used for each actuator (15, 35, 35), the control device 70 may be connected to an air valve. The control device 70 can control the driving force of each actuator (15, 25, 35) by controlling the opening and closing of the air valve. 【0123】 (Hardware configuration) Figure 7 schematically shows an example of the hardware configuration of the control device 70 according to this embodiment. In the example in Figure 7, the control device 70 according to this embodiment is a computer in which a control unit 71, a storage unit 72, an external interface 73, an input device 74, an output device 75, and a drive 76 are electrically connected. 【0124】 The control unit 71 includes hardware processors such as a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory), and is configured to perform information processing based on programs and various data. The control unit 71 (CPU) is an example of processor resources. 【0125】 The storage unit 72 may be composed of, for example, a hard disk drive, a solid-state drive, or a semiconductor memory. The storage unit 72 (and RAM, ROM) are examples of memory resources. In this embodiment, the storage unit 72 stores various information such as the program 87. The program 87 is a program that causes the control device 70 to execute information processing related to the control of each actuator (15, 25, 35) (see Figure 9 below). The program 87 includes a series of instructions for said information processing. 【0126】 The external interface 73 may be, for example, a USB (Universal Serial Bus) port, a dedicated port, etc., and is configured to connect to an external device by wired or wireless connection. The external interface 73 may include, for example, a communication interface such as a wired LAN (Local Area Network) module or a wireless LAN module. The type and number of external interfaces 73 may be arbitrarily selected. In this embodiment, the control device 70 may be connected to each actuator (15, 25, 35) and sensor SE. 【0127】 The input device 74 is a device for inputting data such as a mouse, keyboard, or control panel. The output device 75 is a device for outputting data such as a display or speaker. The operator can operate the control device 70 by using the input device 74 and the output device 75. The input device 74 and the output device 75 may be integrated into a single unit, such as a touch panel display. 【0128】 The drive 76 is a device for reading various types of information, such as programs, stored in the storage medium 97. The program 87 may be stored in the storage medium 97 in place of or together with the storage unit 72. The storage medium 97 is configured to store various types of information (stored programs, etc.) by electrical, magnetic, optical, mechanical, or chemical means so that a machine such as a computer can read the information. The control device 70 may retrieve the program 87 from the storage medium 97. The storage medium 97 may be a disk-type storage medium such as a CD or DVD, or a non-disk-type storage medium such as semiconductor memory (e.g., flash memory). The type of drive 76 may be appropriately selected according to the type of storage medium 97. 【0129】 Regarding the specific hardware configuration of the control device 70, components can be omitted, replaced, and added as appropriate depending on the embodiment. For example, the control unit 71 may include multiple hardware processors. The type of hardware processor is not particularly limited and may be appropriately selected depending on the embodiment. The storage unit 72 may be composed of RAM and ROM included in the control unit 71. At least one of the external interface 73, input device 74, output device 75, and drive 76 may be omitted. The control device 70 may be composed of multiple computers. In this case, the hardware configuration of each computer may or may not be the same. Furthermore, the control device 70 may be an information processing device designed specifically for the services provided, or it may be a general-purpose PC (Personal Computer), tablet PC, mobile terminal (including smartphone), etc. 【0130】 (Software configuration) Figure 8 schematically shows an example of the software configuration of the control device 70 according to this embodiment. The control unit 71 of the control device 70 loads the program 87 stored in the storage unit 72 into RAM, and the CPU executes the instructions contained in the program 87. As a result, the control device 70 according to this embodiment operates as a computer equipped with an information acquisition unit 711 and a drive unit 712 as software modules. In other words, in this embodiment, each software module of the control device 70 is realized by the control unit 71 (CPU). 【0131】 The information acquisition unit 711 is configured to acquire information. The information to be acquired is not particularly limited and may be appropriately selected depending on the embodiment. For example, the information to be acquired may be observation data from the sensor SE, analysis results of the observation data, input data via the input device 74, etc. The drive unit 712 is configured to control the operation of each actuator (15, 25, 35) according to the acquired information. 【0132】 Each software module of the control device 70 will be described in detail in the operation examples described later. In this embodiment, an example is described in which each software module of the control device 70 is implemented by a general-purpose CPU. However, some or all of the above software modules may be implemented by one or more dedicated processors. Each of the above modules may also be implemented as a hardware module. Furthermore, regarding the software configuration of the control device 70, software modules may be omitted, replaced, or added as appropriate, depending on the embodiment. 【0133】 §2 Example of Operation Figure 9 is a flowchart showing an example of the processing procedure of the control device 70 according to this embodiment. The processing procedure of the control device 70 described below is an example of a control method (information processing method). However, the processing procedure described below is merely an example, and each step may be changed as much as possible. Furthermore, depending on the embodiment, steps may be omitted, replaced, or added to the following processing procedure as appropriate. In the example of Figure 9, it is assumed that the load-relieving device 60 uses a frame system ST and that the operation of each actuator (15, 25, 35) is controlled according to the position of the user W of the load-relieving device 60. 【0134】 In step S101, the control unit 71 operates as an information acquisition unit 711 and acquires measurement data of the user W's position from the sensor SE. The type of sensor SE and measurement data are not particularly limited as long as the user W's position can be identified, and may be appropriately selected depending on the embodiment. The data obtained by the sensor SE may be the measurement data as is, or measurement data may be obtained by performing arbitrary information processing (analysis processing) on ​​the data obtained by the sensor SE. In one example, the sensor SE may be an image sensor (camera). The image sensor may be appropriately positioned to capture images within the movable range of the mobile unit 40. The control unit 71 acquires the captured image from the image sensor and performs analysis processing to detect the user W on the acquired captured image, thereby obtaining the measurement result (measurement data) of the user W's position. Once the position measurement result is obtained, the control unit 71 proceeds to the next step S102. 【0135】 In step S102, the control unit 71 operates as a drive unit 712 and controls the operation of each actuator (15, 25, 35) according to the measured position of the user W. In this embodiment, the effect of speed increase by each actuator (15, 25, 35) can be changed by setting the equilibrium position (equilibrium point BP, point T0) of each artificial muscle (151, 152), (251, 252), (351, 352) relative to the position of the user W. 【0136】 In one example, the control unit 71 may drive each actuator (15, 25, 35) so that the equilibrium position of each artificial muscle (151, 152), (251, 252), (351, 352) follows the measured position of the user W. That is, the equilibrium position of each artificial muscle (151, 152), (251, 252), (351, 352) may be set to be the same as the position of the user W. This reduces the load acting on the user W from the movable frame 30 and the moving unit 40, while allowing the movable frame 30 and the moving unit 40 to follow the position of the user W. 【0137】 In another example, the control unit 71 may drive each actuator (15, 25, 35) to position each artificial muscle (151, 152), (251, 252), (351, 352) so that its equilibrium position is shifted in the guiding direction from the measured position of the user W. The direction in which the equilibrium position is shifted relative to the position of the user W corresponds to the guiding direction. The amount by which the equilibrium position is shifted relative to the position of the user W corresponds to the value obtained by dividing the guiding force by the spring constant. The guiding direction (target) and guiding force may be specified by any method, such as operator input. By using the load acting on the user W from the movable frame 30 and the moving unit 40 as a guide for the user W, the weight of the movable frame 30 and the moving unit 40 is less likely to act as a load, and the mobility of the user W can be improved by the guiding force. 【0138】 The control unit 71 can move the equilibrium position while maintaining rigidity by increasing the force of one of the pair of artificial muscles (151, 152) (251, 252) (351, 352) and decreasing the force of the other artificial muscle. The control unit 71 can also increase the force supporting the user W by increasing the rigidity of each artificial muscle (151, 152) (251, 252) (351, 352). On the other hand, the control unit 71 can decrease the force supporting the user W by decreasing the rigidity of each artificial muscle (151, 152) (251, 252) (351, 352). After controlling the operation of each actuator (15, 25, 35), the control unit 71 proceeds to the next step S103. 【0139】 In step S103, the control unit 71 determines whether or not to terminate control of each actuator (15, 25, 35). The determination criteria can be set arbitrarily. For example, after the control device 70 is started and the control start operation via the input device 74 is performed, the control unit 71 may determine not to terminate control of each actuator (15, 25, 35) until a termination instruction is given. On the other hand, when a termination instruction (for example, a user operation via the input device 74) is given, the control unit 71 may determine to terminate control of each actuator (15, 25, 35). If it is determined not to terminate control, the control unit 71 returns to step S101 and executes the process again from step S101. On the other hand, if it is determined to terminate control, the control unit 71 terminates the processing procedure of the control device 70 according to this example of operation. 【0140】 §3 Features As described above, in this embodiment, a first speed-increasing unit 14 is provided on the first fixed frame 10. The first speed-increasing unit 14 can increase the speed of movement of the first belt 13 by outputting the driving force of the first actuator 15 to the first output pulley 11. The movable frame 30 is connected to this first belt 13. Therefore, the effect of speed increase by the first speed-increasing unit 14 can be transmitted to the movable frame 30 via the first belt 13, thereby increasing the mobility of the movable frame 30. In step S102 above, by using the speed increase by the first speed-increasing unit 14 in the form of following or guiding, the load on the movable frame 30 is made less likely to act as a load, and the movable frame 30 can be made to move more easily in the first direction. Therefore, according to this embodiment, the mobility of the movable frame 30 in the frame system ST can be increased. In one example of this embodiment, the mobility of the movable frame 30 can be increased when using the load-relieving device 60. 【0141】 Furthermore, in this embodiment, by also providing a second speed-increasing unit 24 to the second fixed frame 20, the speed-increasing force can be transmitted to both ends (301, 302) of the movable frame 30 via belts (13, 23). This suppresses the generation of rotational load when transmitting the speed-increasing force from each belt (13, 23) to each end (301, 302) of the movable frame 30, and as a result, the mobility of the movable frame 30 can be improved. 【0142】 Furthermore, in this embodiment, by also providing a third speed-increasing unit 34 to the movable frame 30, the mobility of the moving unit 40 in the second direction can be improved. 【0143】 Furthermore, in this embodiment, by using a variable stiffness actuator as the first actuator 15, impedance control in the first direction becomes possible. The same applies when a variable stiffness actuator is used as the second actuator 25. By using a variable stiffness actuator as the third actuator 35, impedance control in the second direction becomes possible. 【0144】 Furthermore, in this embodiment, the first actuator 15 is composed of a pair of artificial muscles (151, 152). The artificial muscles can continuously generate a relatively large force with low energy. Therefore, energy consumption can be reduced when maintaining the state in the first direction. Also, the force of the artificial muscles weakens as they contract. Therefore, the output when the movable frame 30 reaches the end is reduced, and the force with which the movable frame 30 hits the end can be weakened. The same applies when the second actuator 25 is composed of a pair of artificial muscles (251, 252). By composing the third actuator 35 as a pair of artificial muscles (351, 352), energy consumption can be reduced when maintaining the state in the second direction. Also, the force with which the movable unit 40 hits the end can be weakened. 【0145】 Furthermore, the output of the fluid-pressure artificial muscle can be easily adjusted. Therefore, in this embodiment, by using fluid-pressure artificial muscles for each artificial muscle (151, 152), the system can be easily constructed. The same applies when using fluid-pressure artificial muscles for each artificial muscle (251, 252) (351, 352). 【0146】 §4 Variant Although embodiments of the present invention have been described in detail above, the above description is merely illustrative in all respects of the present invention. Various improvements or modifications may be made to the above embodiments as appropriate. For example, the following modifications are possible. In the following, the same reference numerals are used for components similar to those in the above embodiments, and explanations of points similar to those in the above embodiments have been omitted as appropriate. The following modifications can be combined as appropriate. 【0147】 <4.1> In the above embodiment, the method of supporting the first fixed frame 10 and the second fixed frame 20 may be modified as appropriate. Each support column 55-58 may have a form other than a tension-type support. The number of support columns is not limited to four. Also, the first fixed frame 10 and the second fixed frame 20 may be suspended from the ceiling by any method, such as a hanging device, instead of being supported by each support column 55-58. Each support column 55-58 may be omitted. 【0148】 Furthermore, in the above embodiment, each fixed frame (10, 20, 51, 52) may be further supported horizontally inward from the outside (opposite side of where the movable frame 30 is positioned). For example, the first fixed frame 10 may be supported horizontally toward the second fixed frame 20. This makes it possible to suppress lateral swaying of each fixed frame (10, 20, 51, 52). 【0149】 Furthermore, in the above embodiment, at least one of the third fixing frame 51 and the fourth fixing frame 52 may be omitted. Also, in the above embodiment, the first fixing frame 10 and the second fixing frame 20 may be connected to each other in a manner other than the third fixing frame 51 and the fourth fixing frame 52. This may reinforce the support of the first fixing frame 10 and the second fixing frame 20. 【0150】 Furthermore, in the above embodiment, the first fixed frame 10, the second fixed frame 20, and the movable frame 30 are supported at approximately the same height. However, these height relationships are not limited to this example and may be appropriately modified depending on the embodiment. In another example, the first fixed frame 10 and the second fixed frame 20 may be positioned higher, and the movable frame 30 may be positioned lower. In yet another example, the first fixed frame 10 and the second fixed frame 20 may be positioned lower, and the movable frame 30 may be positioned higher. In yet another example, one of the first fixed frame 10 and the second fixed frame 20 may be positioned higher, the other lower, and the movable frame 30 may be positioned between them. The support relationships between each frame (10, 20, 30) may be appropriately modified depending on the embodiment. 【0151】 Furthermore, in the above embodiment, the first fixed frame 10, the second fixed frame 20, and the movable frame 30 are supported at their respective ends. However, the support locations are not limited to the ends and may be appropriately changed depending on the embodiment. The first fixed frame 10 and the second fixed frame 20 may be supported at positions spaced apart from their respective ends. The first fixed frame 10 and the second fixed frame 20 may support the movable frame 30 at positions spaced apart from their respective ends. 【0152】 <4.2> In the above embodiment, the first holding portion 436 (first moving portion 434) may hold two or more linear structures as first linear structures. The second holding portion 437 (second moving portion 435) may hold two or more linear structures as second linear structures. The plurality of linear structures supplied via the pair of base portions (41, 42) may include linear structures other than those handled as first and second linear structures (i.e., linear structures not held by the first holding portion 436 and the second holding portion 437). 【0153】 Furthermore, in the above embodiment, the load-relieving device 60 may include linear structures other than the pair of wires (603, 604), such as power cables and communication cables. When the load-relieving device 60 includes multiple linear structures, one or more of the multiple linear structures may be routed as the first linear structure, and one or more of the remaining linear structures may be routed as the second linear structure. 【0154】 <4.3> In the above embodiment, the rotating unit 43 is equipped with two movable parts (434, 435). However, the number of movable parts provided in the rotating unit 43 is not limited to two; it may be one or three or more. If three or more movable parts are provided, each movable part may be appropriately arranged according to the embodiment. Typically, the three or more movable parts may be arranged at equal intervals around the vertical direction (circumferential direction). Each of the three or more movable parts may be equipped with a holding part. Accordingly, the linear structure may be held in a curled shape by each of the three or more holding parts. That is, there may be a third or subsequent movable part, a holding part, and a linear structure. Alternatively, either the first movable part 434 or the second movable part 435 may be omitted. 【0155】 In the above embodiment, the rotating unit 43 may be provided with at least one movable part. Accordingly, the rotating unit 43 may include a movable part positioned outside the cavities (410, 420) and configured to rotate vertically in accordance with the rotation of the rotating unit 43. The movable part may include a holding part. The holding part may be configured to hold the end of a curl formed when a linear structure hangs vertically downward from the cavities (410, 420) and is then routed vertically upward. The linear structure may hang further vertically downward from this end. The holding part may hold one or more linear structures. The held linear structure may have properties that make it difficult to twist. With this configuration, as the curled portion is unwound for winding, the portion of the linear structure beyond the holding part can rotate without being affected by the rotation of the rotating unit 43. This makes it possible to rotate even a linear structure that is difficult to twist vertically. 【0156】 Furthermore, in the above embodiment, the rotating unit 43 only needs to be configured to rotate vertically around the cavity of the base portion, and the structure of the rotating unit 43 may be modified as appropriate. In the rotating unit 43, the central portion 431 and each arm portion (432, 433) may be omitted. Each movable portion (434, 435) may be supported so as to be rotatable by a structure other than the central portion 431 and each arm portion (432, 433). In another example, a guide may be provided on the outer peripheral wall of the base portion in the circumferential direction, and each movable portion (434, 435) may be configured to rotate circumferentially on this guide while maintaining its spacing. In the above embodiment, the cavities (410, 420) of the pair of base portions (41, 42) and the hollow portion 430 of the central portion 431 constitute the passage for the linear structure in the movable unit 40. By omitting the central portion 431, the hollow portion 430 may be omitted from this passage for the linear structure. 【0157】 Furthermore, in the above embodiment, the relationship between the pair of base parts (41, 42) and the rotating unit 43 may be changed as appropriate. The base parts do not have to be divided into upper and lower halves. The rotating unit 43 may be rotatably supported above or below the base parts as appropriate. The rotating unit 43 may be omitted. The configuration of the moving unit 40 may be changed as appropriate depending on the embodiment. 【0158】 Furthermore, in the above embodiment, the mobile unit 40 is supported below the movable frame 30. However, the positional relationship between the mobile unit 40 and the movable frame 30 is not limited to this example and may be appropriately changed depending on the embodiment. The mobile unit 40 may be supported at approximately the same height as the movable frame 30 or above the movable frame 30. 【0159】 <4.4> In the above embodiment, the type of each actuator (15, 25, 35) may be selected as appropriate. In one example, a fluid-pressure artificial muscle may be used in at least one of the three actuators (15, 25, 35). In another example, an artificial muscle other than a fluid-pressure artificial muscle, such as a polymer actuator or a dielectric actuator, may be used in at least one of the three actuators (15, 25, 35). In another example, when any type of artificial muscle (for example, an artificial muscle other than a pneumatic one) is used in at least one of the three actuators (15, 25, 35), this artificial muscle may be equipped with the wire 505, stopper 506 and elastic member 507 shown in Figure 6, or it may be equipped with other configurations. In another example, at least one of the three actuators (15, 25, 35) may be composed of a pair of artificial muscles. However, the number of artificial muscles used in the actuator is not limited to such examples and may be selected as appropriate depending on the embodiment. 【0160】 In one example, at least one of the three actuators (15, 25, 35) may be a variable stiffness actuator other than an artificial muscle, such as an actuator equipped with a spring, a mechanism for changing the stiffness (spring constant) of the spring, and a motor. Impedance control in the first direction may be performed by providing speed-increasing units (14, 24) in at least one of the first fixed frame 10 and the second fixed frame 20, and using variable stiffness actuators for the actuators (15, 25) that input driving force to the speed-increasing units (14, 24). In another example, at least one of the three actuators (15, 25, 35) may be an actuator other than a variable stiffness actuator, such as an actuator composed of a spring and a motor, a series elastic actuator, a piezo actuator, or a motor. 【0161】 The configuration of each speed-increasing unit (14, 24, 34) is not particularly limited, as long as it can output the driving force of each actuator (15, 25, 35) to each output pulley (11, 21, 31). The configuration of each speed-increasing unit (14, 24, 34) may be appropriately changed depending on the type of actuator (15, 25, 35). In one example, in at least one of the three speed-increasing units (14, 24, 34), the driving force of the actuator (15, 25, 35) may be directly input to the driven gear (111, 211, 311). In another example, in at least one of the three speed-increasing units (14, 24, 34), the actuator (15, 25, 35) may be configured with a motor, and this motor may drive the input pulley (141, 241, 341) or the output pulley (11, 21, 31). 【0162】 In one example, at least one of the three actuators (15, 25, 35) may be an actuator capable of back-driving. In this embodiment, the diameter of each driven gear (111, 211, 311) provided on each output pulley (11, 21, 31) is smaller than the diameter of each drive gear (142, 242, 342) provided on each input pulley (141, 241, 341). Therefore, even if each belt (13, 23, 33) is pulled with a small force, a large force can be applied to each actuator (15, 25, 35). Thus, even if an actuator that is difficult to back-drive is used for at least one of the three actuators (15, 25, 35), it can be back-driven with a relatively small force. That is, by providing a speed-increasing unit (14, 24, 34) in at least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30, the back-driving ability in that direction can be improved. Therefore, a harmonic drive gear may be used in at least one of the three actuators (15, 25, and 35). Although harmonic drive gears are less prone to backdriving, the effect of the speed-increasing unit mentioned above makes it possible to ensure backdrivability in the harmonic drive gear. In addition, using a harmonic drive gear allows for a more compact actuator. 【0163】 In one example, a range of free movement may be formed in at least one of the three actuators (15, 25, 35) by a configuration other than that shown in Figure 6. For example, a clutch may be provided on the input pulley (141, 241, 341) in at least one of the three speed-increasing units (14, 24, 34). In this configuration, the clutch allows the driving force of the actuators (15, 25, 35) to be attached and detached. By disengaging the clutch, the actuators (15, 25, 35) can be disconnected, thereby allowing the belts (13, 23, 33) to move freely. 【0164】 Furthermore, if an artificial muscle is used in at least one of the three actuators (15, 25, and 35), the driving range of the artificial muscle may be changed by adopting this clutch configuration. 【0165】 In one example, an encoder may be attached to the input pulley (141, 241, 341) in at least one of the three speed-increasing units (14, 24, 34), and the angle of the input pulley (141, 241, 341) may be measured by this encoder. If a clutch configuration is not adopted, the position of the drive point corresponds to the amount of rotation of the input pulley (141, 241, 341) (i.e., the amount of drive of the artificial muscle), so the position of the drive point can be estimated from the measured angle. In the first fixed frame 10 and the second fixed frame 20, the drive point is the position of the movable frame 30, and in the movable frame 30, the drive point is the position of the moving unit 40. 【0166】 On the other hand, if a clutch configuration is adopted, disengaging the clutch causes the amount of drive of the artificial muscle to no longer correspond to the movement of the drive point, making it difficult to determine the position of the drive point using the angle of the input pulleys (141, 241, 341). In another example, if a clutch configuration is adopted in at least one of the three speed-increasing units (14, 24, 34), an encoder may be attached to the output pulleys (11, 21, 31) corresponding to the input pulleys (141, 241, 341) that employ the clutch. This encoder may measure the angle of the output pulleys (11, 21, 31), and the position of the drive point may be estimated from the measured angle. This allows the frame system ST to be configured to adjust the drive range of the artificial muscle by switching the clutch on / off while estimating the position of the drive point. The drive range of the artificial muscle is limited. Therefore, if the length of at least one of the frames in the first direction (first fixed frame 10 and second fixed frame 20) and the frame in the second direction (movable frame 30) is long, it may not be possible to cover the entire range of that frame as the driving range of the artificial muscle. In contrast, by adopting this configuration, the driving range of the artificial muscle can be changed, thereby allowing the entire frame to be covered as the driving range of the artificial muscle even when the frame length is long. 【0167】 In one example, a brake may be provided on at least one of the movable frame 30 and the moving unit 40 to suppress movement. The brake may be provided on at least one of the output pulleys (11, 21, 31), auxiliary pulleys (12, 22, 32), and slide units (362, 372, 45). The type of brake is not particularly limited and may be appropriately selected depending on the embodiment. In this embodiment, by increasing the rigidity of each actuator (15, 25, 35), the driving point can be made stiffer, and an effect similar to a brake can be obtained. Alternatively, by providing a brake, movement can be further suppressed as needed. For example, if excessive force is applied to the belt (13, 23, 33), the brake can suppress the movement of the belt (13, 23, 33). This can reduce the load on the speed-increasing unit (14, 24, 34). 【0168】 <4.5> In the above embodiment, the first fixed frame 10 supports the movable frame 30 via a slide unit 362. The second fixed frame 20 supports the movable frame 30 via a slide unit 372. The movable frame 30 supports the moving unit 40 via a slide unit 45. However, the support method is not limited to this example and may be appropriately modified depending on the embodiment. The configuration of the slide units (362, 372, 45) may be appropriately modified depending on the embodiment. In at least one of these, a support method other than a slide unit may be employed. In another example, in at least one of the three slide units (362, 372, 45), the horizontal wheels may be positioned in the grooves (193, 293, 393). These horizontal wheels may be slightly smaller than the grooves (193, 293, 393). These horizontal wheels can withstand axial loads by contacting the edges (191, 192), (291, 292), (391, 392). Furthermore, these horizontal wheels may be attached to the slide units (362, 372, 45) via an elastic member (e.g., a spring). In another example, in the above embodiment, at least one of the horizontal wheels (3623, 3624, 3723, 3724, 453, 454) may be attached to the slide units (362, 372, 45) via an elastic member (e.g., a spring). 【0169】 Furthermore, in the above embodiment, the movable frame 30 is connected to the first belt 13 by the fourth member 364 and the fifth member 365. The movable frame 30 is connected to the second belt 23 by the fourth member 374 and the fifth member 375. The moving unit 40 is connected to the third belt 33 by the connecting part 46. However, the connection method is not limited to this example and may be appropriately modified depending on the embodiment. The configuration of the connecting members may be appropriately modified depending on the embodiment. 【0170】 <4.6> In the movable frame 30 according to the above embodiment, the third speed-increasing unit 34 may be omitted. In this case, the third output pulley 31 and the third auxiliary pulley 32 may simply be read as pulleys. Even if the third speed-increasing unit 34 is omitted, the movable frame 30 may be equipped with a third belt 33, and the moving unit 40 may be connected to the third belt 33. 【0171】 Furthermore, in the above embodiment, the third output pulley 31, the third auxiliary pulley 32, the third belt 33, and the third speed-increasing unit 34 may be omitted. Accordingly, the connection between the moving unit 40 and the third belt 33 may also be omitted. In one example, the movable frame 30 may be used simply as a rail for the moving unit 40. 【0172】 <4.7> In the second fixed frame 20 according to the above embodiment, the second speed-increasing unit 24 may be omitted. In this case, the second output pulley 21 and the second auxiliary pulley 22 may simply be read as pulleys. Even if the second speed-increasing unit 24 is omitted, the second fixed frame 20 may be equipped with a second belt 23, and the movable frame 30 may be connected to the second belt 23. 【0173】 Furthermore, in the above embodiment, the second output pulley 21, the second auxiliary pulley 22, the second belt 23, and the second speed-increasing unit 24 may be omitted. Accordingly, the connection between the movable frame 30 and the second belt 23 may also be omitted. In one example, the second fixed frame 20 may be used simply as a rail for the movable frame 30. 【0174】 <4.8> In the above embodiment, the first auxiliary pulley 12 is a driven pulley. However, the first auxiliary pulley 12 is not limited to this example. In another example, the first fixed frame 10 may be provided with a speed-increasing unit separate from the first speed-increasing unit 14, and the driving force of the actuator may be output to the first auxiliary pulley 12 by this speed-increasing unit. In this case, the first auxiliary pulley 12 may operate in the same way as the first output pulley 11. 【0175】 The same applies to the second fixed frame 20 and the movable frame 30. In other examples, the second fixed frame 20 may be provided with a separate speed-increasing unit from the second speed-increasing unit 24, and the driving force of the actuator may be output to the second auxiliary pulley 22 by this speed-increasing unit. As a result, the second auxiliary pulley 22 may operate in the same way as the second output pulley 21. 【0176】 In another example, the movable frame 30 may be provided with a separate speed-increasing unit from the third speed-increasing unit 34, and the driving force of the actuator may be output to the third auxiliary pulley 32 by this speed-increasing unit. In this way, the third auxiliary pulley 32 may operate in the same manner as the third output pulley 31. 【0177】 <4.9> In the above embodiment, encoders may be attached to the output pulleys (11, 21, 31) and auxiliary pulleys (12, 22, 32) in at least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30. Each encoder may measure the angles of the output pulleys (11, 21, 31) and auxiliary pulleys (12, 22, 32). The control device 70 may use each angle to estimate the force acting on the drive point. The control device 70 may also use each angle to correct the position of the drive point. As described above, in the first fixed frame 10 and the second fixed frame 20, the drive point is the position of the movable frame 30, and in the movable frame 30, the drive point is the position of the moving unit 40. 【0178】 Figure 10 schematically shows an example of a frame (first fixed frame 10, second fixed frame 20, and movable frame 30) according to this modified example. Output pulley 591 corresponds to each output pulley (11, 21, 31), and auxiliary pulley 592 corresponds to each auxiliary pulley (12, 22, 32). The endless belt 593 corresponds to each belt (13, 23, 33). The configuration in Figure 10 may be adopted in at least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30. Note that Figure 10 assumes a configuration in which the drive point DP (connection point) is provided on the lower circumference of the belt 593. 【0179】 In one example, encoder EN1 may be mounted on output pulley 591, and encoder EN2 may be mounted on auxiliary pulley 592. The types of encoders (EN1, EN2) are not particularly limited and may be appropriately selected depending on the embodiment. Each encoder (EN1, EN2) may be appropriately positioned on the rotation axis, side, etc., of each pulley (591, 592). As long as the rotation angle of each pulley (591, 592) can be measured, the arrangement of each encoder (EN1, EN2) is not particularly limited and may be appropriately determined depending on the embodiment. 【0180】 The control device 70 may obtain the measurement results of the rotation angle of each pulley (591, 592) directly or indirectly from each encoder (EN1, EN2). The control device 70 may calculate the amount of stretching (extension) of the upper connecting portion PT1 of the belt 593 between the output pulley 591 and the auxiliary pulley 592, according to the difference in the measured rotation angles of the output pulley 591 and the auxiliary pulley 592. The spring constant of the upper connecting portion PT1 may also be measured in advance. This spring constant may be approximated by a nonlinear function, taking into account the effect of the tensioner. The control device 70 may estimate the force acting on the drive point DP by multiplying the calculated extension amount by the previously measured spring constant. The control device 70 may use the estimated force for feedback control of the drive point DP. In this way, the control device 70 may control the drive point DP together with other sensors or without using other sensors. 【0181】 Furthermore, the control device 70 may calculate the distance between the pulley and the drive point DP in the no-load case, according to the rotation angle of the pulley which is in the opposite direction to the direction of the estimated force. This distance corresponds to the position of the drive point DP in the no-load case. The distance between the pulley and the drive point DP corresponds to the length of the lower connecting portion of the belt 593 between the pulley and the drive point DP. In the example in Figure 10, a scenario is assumed in which the estimated force is directed toward the output pulley 591. In this case, the control device 70 may calculate the length of the lower connecting portion PT2 of the belt 593 between the auxiliary pulley 592 and the drive point DP in the no-load case, according to the measured rotation angle of the auxiliary pulley 592. In the no-load case, since the belt 593 is not stretched, the control device 70 may uniformly determine the length of the lower connecting portion according to the measured rotation angle of the pulley. Also, similar to the force estimation scenario described above, the spring constant of this lower connecting portion may be measured in advance. The spring constant may be approximated by, for example, a function. The control device 70 may estimate the spring constant of the lower overlay portion from the calculated length of this portion. The control device 70 may then calculate the displacement of the drive point DP by dividing the estimated force value by the estimated spring constant value. The control device 70 may correct the position of the drive point DP by shifting the position of the drive point DP by the calculated displacement amount in the direction of the estimated force. The corrected position may be used for position control of the drive point DP. 【0182】 An inexpensive encoder can be used to measure the pulley angle. Therefore, with this configuration, the accuracy of force and position control of the drive point DP can be improved in a relatively inexpensive way. Note that when the drive point DP (connection point) is provided on the upper circumference of the belt 593, the upper connecting portion in the force estimation scene may be replaced with the lower connecting portion, and the lower connecting portion in the position correction scene may be replaced with the upper connecting portion. 【0183】 <4.10> In the above embodiment, the configuration of the mobile unit 40 is not particularly limited as long as it is movable along the movable frame 30, and may be appropriately modified depending on the embodiment. Any device may be attached to the mobile unit 40. The attachment of the target device may be configured by arranging the target device with respect to the mobile unit 40 in a manner such as the mobile unit 40 being at least a part of the target device, suspending the target device, allowing the linear structure of the target device to pass through, or holding the linear structure of the target device. The configuration in which the target device is arranged is not particularly limited and may be appropriately selected depending on the embodiment. 【0184】 <4.11> In the above embodiment, an example is shown in which the frame system ST is used as a load-bearing support device 60. However, the scope of application of the frame system ST is not limited to this example. Any device may be provided in the mobile unit 40, either together with the load-bearing support device 60 or in place of the load-bearing support device 60. 【0185】 (1) Exoskeleton robot Figure 11A schematically shows an example of another scenario in which the frame system ST of this disclosure is used. In the example in Figure 11A, a scenario in which an exoskeleton robot 61 is used together with the load-bearing support device 60 is assumed. The exoskeleton robot 61 comprises four artificial muscles 617, a first assist unit 618, and a second assist unit 619. The type of each artificial muscle 617 may be arbitrarily selected. In one example, each artificial muscle 617 may be the artificial muscle 500 described above. 【0186】 The first assist unit 618 is configured to receive the driving force from two of the four artificial muscles 617 and assist in the extension and flexion of the user W's knee joint. The second assist unit 619 is configured to receive the driving force from the remaining two of the four artificial muscles 617 and assist in the extension and flexion of the user W's ankle joint. The four artificial muscles 617 may be carried on the user W's back as appropriate. 【0187】 The exoskeleton robot 61 may include one or more linear structures relating to four artificial muscles 617. In one example, each artificial muscle 617 may be a pneumatic artificial muscle. Accordingly, the exoskeleton robot 61 may include a compressor and four air valves. The compressor may be connected to each air valve via an air tube. Each air tube may also be connected to each artificial muscle 617 via an air tube. The compressor and the air tubes of each air valve are examples of linear structures. Each air tube may be routed as appropriate. 【0188】 Figures 11B and 11C are schematic perspective and partial cross-sectional views illustrating an example of the routing of linear structures (air tubes) of the exoskeleton robot 61 in the mobile unit 40 of this disclosure. The compressor may be placed in any location. The compressor may be connected to each air valve 6121-6124 via the air tube 611. The air tube 611 may be routed from the compressor to the top of the movable frame 30. In the portion of the air tube 611 routed to the top of the movable frame 30 and passing through the cavities (410, 420) of the pair of base portions (41, 42), the air tube 611 may be arranged similarly to the wires (603, 604) of the load-bearing device 60. In one example, this portion of the air tube 611 may be placed in a cable bearing CB1 together with the wire 603 and placed inside a bracket 38 (Figure 11C). In another example, the air tube 611 may be placed in the cable bearing CB2 together with the wire 604 and positioned in the groove 385. 【0189】 The four air valves 6121-6124 may be arranged as appropriate. In the examples of Figures 11A and 11B, the four air valves 6121-6124 may be divided into pairs, and each pair may be fixed in a connected state to each moving part (434, 435) of the rotating unit 43. When each air valve 6121-6124 is connected, it may be configured to receive air pressure through a single tube. Accordingly, the air tube 611 may be supplied into the cavities (410, 420) of the pair of base parts (41, 42) and then branch into two tubes (6111, 6112). 【0190】 Tube 6111 may be connected to a pair of air valves (6121, 6122), and tube 6112 may be connected to a pair of air valves (6123, 6124). In this case, each tube (6111, 6112) may be routed to form a curl before being connected to each pair, similar to the wires (603, 604) of the load-bearing device 60. The connection points of each pair of air valves are an example of a holding part. By routing them in this way, it is possible to easily handle rotation around the user W in the vertical direction, even when using the exoskeleton robot 61. 【0191】 Each air tube 6131-6134 hanging from each air valve 6121-6124 may be bundled together and covered by a sleeve 616, and connected to each artificial muscle 617. In cases where two or more linear structures are connected by an arbitrary object in between, as in the relationship between each tube (6111, 6112) and each air tube 6131-6134, the two or more linear structures may be considered as a single linear structure or as separate linear structures. 【0192】 Each of the air valves 6121 to 6124 may be a known air valve. Each of the air valves 6121 to 6124 may be controlled wirelessly or by wire. When each of the air valves 6121 to 6124 is controlled by wire, the communication cable may be routed in the same way as the air tube 611, etc. Also, each of the air valves 6121 to 6124 may be equipped with a battery or connected to a power cable. When power is supplied to each of the air valves 6121 to 6124 via a power cable, the power cable may also be routed in the same way as the air tube 611, etc. Furthermore, a controller may be deployed in the mobile unit 40 together with each of the air valves 6121 to 6124. In this case, the power cable of the controller may also be routed in the same way as the air tube 611, etc. In this application example, the effects and advantages of the above embodiment can be expected even when using an exoskeleton robot 61. Note that the arrangement of each of the air valves 6121 to 6124 may be appropriately changed depending on the embodiment. 【0193】 Figure 12 schematically shows an example of another scenario in which the frame system ST of this disclosure is used. In the exoskeleton robot 62 of Figure 12, the air valve 622 is located near the upper end of the four artificial muscles 627. The four artificial muscles 627 correspond to the four artificial muscles 617. The air tube 621 from the compressor corresponds to the air tube 611. In this case, the air tube 621 may be supplied directly to the user W's back without branching after passing through the cavities (410, 420) of the pair of base parts (41, 42). The other configurations of the exoskeleton robot 62 may be the same as those of the exoskeleton robot 61. This simplifies the handling of linear structures. In this modified version of the exoskeleton robot (61, 62), the load-bearing support device 60 may be omitted. The type of each artificial muscle 627 may be arbitrarily selected. In one example, each artificial muscle 627 may be the artificial muscle 500. 【0194】 (2) Robot arm Figure 13 schematically shows an example of another scenario in which the frame system ST of this disclosure is used. In one example, a robot arm 63 may be attached to the moving unit 40. This allows the robot arm 63 to be moved horizontally while suspended. Therefore, obstacles, steps, etc. on the floor can be ignored, and the robot arm 63 can be moved easily. In addition, the first speed-increasing unit 14 can increase the mobility of the robot arm 63 in a first direction. The second speed-increasing unit 24 allows the robot arm 63 to move smoothly in the first direction. Furthermore, the third speed-increasing unit 34 can also increase the mobility of the robot arm 63 in a second direction. 【0195】 In one example, the robot arm 63 may be attached to the mobile unit 40 via a balancer 631. The balancer 631 assists in the vertical movement of the robot arm 63 and may be appropriately configured to maintain the robot arm 63 at any height. A known balancer may be used for the balancer 631. When moving the robot arm 63 horizontally, interference with obstacles on the floor can be reduced by first raising the robot arm 63 vertically upward before starting the horizontal movement. On the other hand, when in use, the robot arm 63 may be lowered vertically downward. In this modified example, the balancer 631 facilitates this vertical movement of the robot arm 63. Therefore, the convenience of the robot arm 63 can be increased. In another example, the balancer 631 may be omitted. 【0196】 In this modified example, variable stiffness actuators are used for each actuator (15, 25, 35), allowing impedance control of the tip of the robot arm 63 even if the robot arm 63 itself has high stiffness. The stiffness of the tip of the robot arm 63 corresponds to the combined result of the stiffness of the robot arm 63 itself and the stiffness of each actuator (15, 25, 35). Therefore, even if it is difficult to lower the stiffness of the robot arm 63 itself, a soft state can be created at the tip of the robot arm 63 by lowering the stiffness of each actuator (15, 25, 35). 【0197】 (Example of operation) Figure 14 is a flowchart showing an example of the processing procedure of the control device 70 when the frame system ST is used for the robot arm 63. The processing procedure of the control device 70 described below is an example of a control method (information processing method). However, the processing procedure described below is merely an example, and each step may be modified as much as possible. In addition, steps in the following processing procedure may be omitted, replaced, or added as appropriate depending on the embodiment. 【0198】 In step S201, the control unit 71 operates as an information acquisition unit 711 and accepts a specification of the destination position for the robot arm 63. The position can be specified by any method, such as input via the input device 74, voice input, or image input (gestures, etc.). For example, when using sensor input such as voice input or image input, the control device 70 may acquire observation data from sensor SE such as a microphone or image sensor, and obtain information on the specified position by analyzing the acquired observation data in any way. The position may be specified specifically, or it may be specified abstractly, for example, by an instruction word or a call. If it is specified abstractly, the control unit 71 may determine the specified position according to a predetermined rule (for example, setting the specified position within a certain range from the user). Once the information on the specified position is obtained, the control unit 71 proceeds to the next step S202. 【0199】 In step S202, the control unit 71 acts as a drive unit 712 and controls the operation of each actuator (15, 25, 35) so as to gradually move the equilibrium position of each actuator (15, 25, 35) to a specified position. As a result, the control device 70 can move the robot arm 63 to the specified position using the frame system ST. When the equilibrium position of each actuator (15, 25, 35) reaches the specified position, the movement of the robot arm 63 is completed. 【0200】 Typically, the control unit 71 may move the robot arm 63 along a linear path. However, the movement path is not limited to this example and may be determined as appropriate depending on the embodiment. The control unit 71 may plan the path in any way. For example, the control unit 71 may acquire the position of an obstacle and determine the movement path of the robot arm 63 to avoid the position of this obstacle. The position of the obstacle may be acquired in any way. In one example, the sensor SE may include an image sensor, and the control unit 71 may identify the position of the obstacle from the image obtained from the image sensor. In another example, the position of the obstacle may be set in advance. 【0201】 Furthermore, if the balancer 631 is computer-controllable, the control device 70 may be directly or indirectly connected to the balancer 631. In this case, the control unit 71 may drive the balancer 631 to raise the position of the robot arm 63 vertically upward before starting the movement. After the movement is completed, the control unit 71 may drive the balancer 631 to lower the position of the robot arm 63 vertically downward. Once the movement of the robot arm 63 is complete, the control unit 71 proceeds to the next step S203. 【0202】 In step S203, the control unit 71 determines whether or not to terminate control of each actuator (15, 25, 35). The determination criteria can be set arbitrarily. In one example, the determination criteria for step S203 may be the same as those for step S103. In another example, the control unit 71 may determine to terminate control of each actuator (15, 25, 35) each time the movement of the robot arm 63 is completed. If it is determined not to terminate control, the control unit 71 returns to step S201 and executes the process again from step S201. On the other hand, if it is determined to terminate control, the control unit 71 terminates the processing procedure of the control device 70 according to this example of operation. According to this example of operation, the robot arm 63 can be moved to any location using the frame system ST. 【0203】 In this modified example, the above-mentioned brake may be provided. This brake allows the movement of the robot arm 63 to be stopped at will. As a result, the positioning accuracy of the tip of the robot arm 63 can be improved. 【0204】 <4.12> Furthermore, the attributes of each component of the frame system ST, such as shape, material, and structure, may be changed as appropriate. Regarding the specific hardware configuration of the frame system ST, components can be omitted, replaced, and added as appropriate depending on the embodiment. The shape of each frame (10, 20, 30, 51, 52) is not limited to the examples shown in the figures and may be changed as appropriate depending on the embodiment. If the movable frame 30 is movable, at least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30 may be partially curved. Known methods may be appropriately used for connecting, fixing, supporting, and other joining methods of each component. 【0205】 <4.13> In one example, the system may be configured by using multiple frame systems ST, each having one of the configurations of the above embodiment and each of its modified forms. 【0206】 Figure 15 schematically shows an example of the system ST100 of this disclosure. In the example in Figure 15, the system ST100 comprises a first frame system ST1 and a second frame system ST2. The first frame system ST1 is located in a first space SC1. The second frame system ST2 is located in a second space SC2 adjacent to the first space SC1. Each frame system (ST1, ST2) may be configured similarly to the frame system ST of any of the embodiments and modifications described above. The first frame system ST1 and the second frame system ST2 may be located at a distance from the boundary SC3 of the first space SC1 and the second space SC2, or near the boundary SC, such that load-relieving devices 60 can be attached to the moving units 40 of both the first frame system ST1 and the second frame system ST2. A door may be provided at the boundary SC3 of the first space SC1 and the second space SC2. A wall SC30 separating the first space SC1 and the second space SC2 may be provided above the boundary SC3 (entrance / exit). 【0207】 Figures 16A and 16B schematically show an example of a scene in which the user W of the load-bearing support device 60 moves from the first space SC1 to the second space SC2 in the system ST100 of this disclosure. In one example, components other than the attachments (606, 607) of the load-bearing support device 60 (drive source, linear structures, etc.) may be arranged in each frame system (ST1, ST2). In the example in Figures 15, 16A, and 16B, each artificial muscle (601, 602) and each wire (603, 604) of the load-bearing support device 60 may be arranged in each frame system (ST1, ST2). As illustrated in Figure 16A, the first frame system ST1 and the second frame system ST2 may be positioned in the region of each space (SC1, SC2) near boundary SC3 or boundary SC3 such that the linear structures (wires 603, wires 604) of the load-relieving devices 60 extending from the mobile units 40 of each frame system (ST1, ST2) reach the attachments (606, 607). This allows the first frame system ST1 and the second frame system ST2 to be positioned at a distance in at least one of the regions near boundary SC3 or boundary SC such that the load-relieving devices 60 can be attached to the mobile units 40 of both the first frame system ST1 and the second frame system ST2. 【0208】 According to one example of this disclosure, when moving from the first space SC1 to the second space SC2 and from the second space SC2 to the first space SC1, the attachment points of the load-relieving device 60 can be changed at or near boundary SC3 without the user W being disconnected from the load-relieving device 60. This allows the load-relieving device 60 to be used continuously in the first space SC1 and the second space SC2. 【0209】 Furthermore, if a wall SC30 is provided above boundary SC3, sliding members (SC31, SC32) may be placed near the lower end of wall SC30 in each space (SC1, SC2) so that the linear structures (wires 603, wires 604) of the load-relieving device 60 do not come into contact with the lower end of wall SC30. The type of each sliding member (SC31, SC32) is not particularly limited as long as it is a member with sliding properties on its surface, and may be appropriately selected according to the embodiment. Each sliding member (SC31, SC32) may be, for example, a rotating member (bearing, etc.), a member with a sliding surface, etc. This makes it possible to prevent the linear structures (wires 603, wires 604) of the load-relieving device 60 from getting caught on the corners of the lower end of wall SC30 when changing the mounting location of the attachments (606, 607) of the load-relieving device 60 at or near boundary SC3. As a result, wear of the linear structures (wires 603 and 604) of the load-relieving device 60 can be suppressed. 【0210】 Furthermore, the first space SC1 and the second space SC2 are not particularly limited and may be appropriately selected depending on the embodiment. In one example, one of the first space SC1 and the second space SC2 may be a bathroom, and the other may be a room adjacent to the bathroom (such as a changing room). According to one example of this disclosure, the weight-bearing support device 60 can be used in the bathroom. This is expected to reduce the burden on caregivers in the bathroom. In addition, even without using a dedicated bed, the user W can be placed in the bathtub while the weight-bearing support device 60 relieves their load. 【0211】 Regarding the specific hardware configuration of system ST100, components can be omitted, replaced, and added as appropriate, depending on the embodiment. The number of frame systems used is not limited to two, but may be three or more. The number of spaces is not limited to two, but may be three or more. One or more frame systems may be arranged in one space. When using three or more frame systems, as in the example shown in Figure 15 above, two adjacent frame systems may be placed at a distance from the boundary or near the boundary where the load-relieving devices 60 can be attached to the moving units 40 of both adjacent frame systems. This allows the load-relieving devices 60 to be used continuously in each space. 【0212】 <4.14> Figure 17 schematically shows an example of the general configuration of another form of artificial muscle 500A. Similar to the artificial muscle 500 described above, artificial muscle 500A comprises a chamber 501, a pair of ends (502, 503), a pipe cylinder 504, a wire 505, a stopper 506, and an elastic member 507. The internal space 5015 of the chamber 501 is connected to an air valve via a supply port 509. Artificial muscle 500A further comprises an outer cylinder 520 that constitutes an internal space 525 housing these components. In the outer cylinder 520, the connections between the wire 505 and the supply port 509 and the external space may be appropriately sealed. 【0213】 When using the artificial muscle 500A in a humid place such as a bathroom, if the chamber 501 and outer cylinder 520 are sealed, condensation may easily occur in the internal space 525 of the outer cylinder 520. Therefore, at least one through hole may be provided at each end (502, 503) of the chamber 501 to connect the internal space 5015 of the chamber 501 with the internal space 525 of the outer cylinder 520. Similarly, at least one through hole may be provided at each end (521, 522) of the outer cylinder 520 to connect the internal space 525 of the outer cylinder 520 with the external space. The number of through holes may be determined arbitrarily. In the example shown in Figure 17, two through holes 541 are provided at end 502 of the chamber 501. Two through holes 542 are also provided at end 503 of the chamber 501. A through hole 543 is provided at end 521 of the outer cylinder 520. A through hole 544 is also provided at the end 522 of the outer cylinder 520. According to one example of this disclosure, dry air is supplied from the air valve to the internal space 5015 of the chamber 501. This dry air is supplied from the internal space 5015 of the chamber 501 to the internal space 525 of the outer cylinder 520 through the through holes (541, 542). As dry air is supplied from the chamber 501 to the internal space 525 of the outer cylinder 520, the air present in the internal space 525 is pushed out to the outside space through the through holes (543, 544). This dries the air in the internal space 525, and as a result, condensation in the internal space 525 can be suppressed. Note that at least one of the through holes (541, 542) may be omitted. At least one of the through holes (543, 544) may be omitted. To make it difficult for air to enter the internal space 525 from the external space, each through hole (543, 544) provided at each end (521, 522) of the outer cylinder 520 may be equipped with a check valve. 【0214】 Sensors for measuring the drive of the artificial muscle 500A may be appropriately arranged in the internal space 525 of the outer cylinder 520. In one example, when sensors are arranged only on one end of the artificial muscle 500A, it is preferable that a through hole be provided at the end on the side where the sensors are arranged in the chamber 501. Alternatively, it is preferable that the diameter of the through hole at the end on the side where the sensors are arranged is larger than the diameter of the through hole provided at the end on the opposite side. Also, in the outer cylinder 520, it is preferable that a through hole be provided at the end on the opposite side where the sensors are arranged. Alternatively, it is preferable that the diameter of the through hole at the end on the opposite side where the sensors are arranged is larger than the diameter of the through hole at the end on the side where the sensors are arranged. When multiple through holes are provided, if the diameter of the through holes on one side is larger than the diameter of the through holes on the other side, it means that the amount of air that can be discharged from all the through holes on one side is greater than the amount of air that can be discharged from all the through holes on the other side. 【0215】 In the example shown in Figure 17, a load cell 531, an encoder 532, and a scale 533 are arranged on the end 521 side of the internal space 525 of the outer cylinder 520. The load cell 531 is mounted on the end 502 of the chamber 501 so as to contact the stopper 506 and is configured to measure the driving force of the artificial muscle 500A. The scale 533 is mounted on the inner wall of the outer cylinder 520. The encoder 532 is mounted on the side of the end 502 of the chamber 501 and is configured to measure the contraction rate of the artificial muscle 500A by reading the scale 533. The load cell 531 and encoder 532 are examples of sensors. The end 521 side of the outer cylinder 520 is an example of the side on which the sensors are arranged, and the end 522 side is an example of the side opposite to the side on which the sensors are arranged. In this case, the through hole 542 in the end 503 of the chamber 501 may be omitted. Alternatively, the diameter of the through-hole 541 at end 502 of chamber 501 may be larger than the through-hole 542 at end 503. Also, the through-hole 543 at end 521 of outer cylinder 520 may be omitted. Alternatively, the diameter of the through-hole 544 at end 522 of outer cylinder 520 may be larger than the through-hole 543 at end 521. According to one example of this disclosure, dry air supplied from the air valve can be easily discharged from the internal space 5015 of chamber 501 to the side of the internal space 525 where the sensors are located, through a through-hole (through-hole 541 in Figure 17) provided at the end of chamber 501 where the sensors are located. Then, in the internal space 525, the air discharged to the side where the sensors are located can be made to flow to the opposite side, and the air in the internal space 525 can be easily discharged from a through-hole (through-hole 544 in Figure 17) provided at the opposite end. This makes it easier to suppress condensation in the area where the sensors are located. For example, artificial muscle 500A may be used as at least one of each artificial muscle (151, 152, 251, 252, 351, 352, 601, 602, 617, 627). 【0216】 In one example, the portion of the wire 505 extending from the outer cylinder 520 into the external space may be covered with a casing 552. In the example shown in Figure 17, the wire 505 extends from the end 521 of the outer cylinder 520 into the external space. The end of the casing 552 may be appropriately fixed to the end 521 by a fastener 551. Chemical fibers may be used for the wire 505. The wire 505 may be appropriately joined to the stopper 506. A PTFE (polytetrafluoroethylene) tube may be used for the casing 552. This can suppress rusting of the wire 505. The casing 552 may also be configured to have a two-layer structure with PTFE on the inside and nylon or polyurethane on the outside. For example, the casing 552 may be formed by covering a PTFE tube with a nylon tube. Alternatively, for example, the casing 552 may be formed by coating the outer surface of a PTFE tube with polyurethane. This increases the flexibility of the casing 552. 【0217】 <4.15> Figure 18 schematically shows an example of force control according to the present disclosure. In the above embodiment, when the load relief device 60 is used, the position of the user W may be observed by a sensor SE. An entry restriction area EA may be set in the observation space of this sensor SE. The observation space of the sensor SE may be appropriately defined by known methods, etc. The entry restriction area EA may be appropriately set using the control device 70. In this case, the control device 70 (control unit 71) may control the operation of each actuator (15, 25, 35) so that the equilibrium positions (equilibrium point BP, point T0) of each artificial muscle (151, 152), (251, 252), (351, 352) do not enter the entry restriction area EA. 【0218】 For example, if the position of user W obtained in step S101 is away from the entry restriction area EA, in step S102, the control unit 71 may drive each actuator (15, 25, 35) so that the equilibrium position (equilibrium point BP, point T0) of each artificial muscle (151, 152) (251, 252) (351, 352) follows the position of user W, similar to the embodiment described above. On the other hand, if the position of user W obtained in step S101 is at the boundary of the entry restriction area EA or is about to enter the entry restriction area EA, the control unit 71 may drive each actuator (15, 25, 35) so that the equilibrium position (equilibrium point BP, point T0) of each artificial muscle (151, 152) (251, 252) (351, 352) stops at the boundary of the entry restriction area EA or moves it away from the entry restriction area EA. This makes it difficult for user W to enter the entry restriction area EA. As illustrated in Figure 18, if user W enters the entry restriction area EA, a force can be applied to user W in a direction away from the entry restriction area EA. Therefore, according to one example of this disclosure, user W can be prevented from entering the set entry restriction area EA. 【0219】 The method for determining the equilibrium position relative to the entry restriction area EA is not limited to the above example and may be modified as appropriate depending on the embodiment. In another example, if the position of the user W obtained in step S101 is within the entry restriction area EA, the control unit 71 may drive each actuator (15, 25, 35) so that the equilibrium position (equilibrium point BP, point T0) of each artificial muscle (151, 152), (251, 252), (351, 352) is set between the boundary of the entry restriction area EA and the position of the user W. This allows the user W to be moved outside the entry restriction area EA with a restraining force. 【0220】 §5 Experimental Examples To verify the applicability of curl in the above embodiment, the following experiment was conducted. However, the present invention is not limited to the following experimental examples. 【0221】 (First experimental example) First, a frame system having the same configuration as the above embodiment was prototyped. Next, a load-bearing relief device having the same configuration as the above embodiment was prepared. Pneumatic artificial muscles were used for the artificial muscles. The artificial muscles and cables (Bowden cables) were arranged in the same manner as in the above embodiment. The cables extending from each artificial muscle were curled in the rotating unit and then held in each holding part. The portions of each cable beyond each holding part were left hanging vertically downwards and connected to each attachment. In the first experimental example, assuming a scenario where the user is stationary, weights were fixed to the subject wearing the load-bearing relief device so that they could not move up, down, left, or right. The same target value was given to the left and right artificial muscles of the load-bearing relief device using the method described in Non-Patent Literature 3. Then, the load-bearing relief device was driven while dynamically changing the target value of the load-bearing force, and the actual load-bearing force from the artificial muscles was measured with a load cell. 【0222】 (Second experimental example) In the second experiment, a step (a wooden frame 19 cm high and 28 cm deep) was prepared, and the user was instructed to ascend and descend this step. While the user was ascending and descending the step, the load-bearing support device was controlled to provide a constant load-bearing force (100 N), and the actual load-bearing force from the artificial muscle was measured using a load cell. The same frame system and load-bearing support device as in the first experiment were used. 【0223】 (result) Figures 19A and 19B show the left and right target values ​​and load cell measurement results in the first experimental example. Figures 20A and 20B show the left and right target values, artificial muscle contraction amount, and load cell measurement results in the second experimental example. As shown in Figures 19A and 19B, it was found that even with a curled section in the cable, force control that appropriately follows dynamically changing target values ​​is possible. Furthermore, as shown in Figures 20A and 20B, the amount of artificial muscle contraction increased when the user climbed the step (around 9s) and decreased when the user descended the step (around 14s). This made it possible to achieve force control that provides a constant load-relieving force even while the user is climbing up and down the step. In other words, it was found that even with a curled section in the cable, appropriate force control in response to the user's movement is possible. From these results, it was found that when using a load-relieving device, the load-relieving device can be used without any problems even if the above embodiment configuration with a curled section in the linear structure is adopted. [Explanation of symbols] 【0224】 10…First fixed frame, 11...First output pulley, 12...First auxiliary pulley, 13...First belt, 14...First speed-increasing unit, 15...First actuator, 20...Second fixed frame, 30...Movable frame, 40...Mobile unit

Claims

[Claim 1] A first fixed frame extending in a first direction, A first output pulley is positioned at one end of the first fixed frame. A first auxiliary pulley is positioned at the other end of the first fixed frame, An endless first belt stretched between the first output pulley and the first auxiliary pulley, and A first speed-increasing unit is configured to receive a driving force input from a first actuator and output the input driving force to a first output pulley, thereby increasing the speed of movement of the first belt. A first fixed frame comprising, A second fixed frame extending in the first direction and arranged in parallel with the first fixed frame, A movable frame supported by the first fixed frame and the second fixed frame, extending in a second direction intersecting the first direction, with one end connected to the first belt, configured to move along the first fixed frame and the second fixed frame in accordance with the movement of the first belt, and A movable unit, which is supported by the movable frame and configured to move along the movable frame, Equipped with, The first speed-increasing unit includes a first input pulley to which the driving force from the first actuator is input, and is configured to increase the speed of the movement of the first belt in relation to the driving force from the first input pulley to the first output pulley by including rotating bodies of different diameters in the path through which the driving force is transmitted. Frame system. [Claim 2] The aforementioned second fixed frame is A second output pulley is positioned at one end of the second fixed frame. A second auxiliary pulley is positioned at the other end of the second fixed frame, An endless second belt stretched between the second output pulley and the second auxiliary pulley, and The second actuator accepts the input of driving force, and outputs the driving force input from the second actuator to the second output pulley, thereby increasing the movement of the second belt. A second speed-increasing unit configured to increase speed, Equipped with, The other end of the movable frame is connected to the second belt, The second speed-increasing unit includes a second input pulley to which the driving force from the second actuator is input, and is configured to increase the speed of the movement of the second belt in relation to the driving force from the second input pulley to the second output pulley by including rotating bodies of different diameters in the path through which the driving force is transmitted. The frame system according to claim 1. [Claim 3] The aforementioned movable frame is A third output pulley is positioned at one end of the movable frame and at one of the other ends. A third auxiliary pulley is positioned at one end of the movable frame and at the other end of the other end. An endless third belt stretched between the third output pulley and the third auxiliary pulley, and A third speed-increasing unit is configured to receive a driving force input from a third actuator and output the driving force input from the third actuator to a third output pulley, thereby increasing the speed of movement of the third belt. Equipped with, The third speed-increasing unit is configured to include a third input pulley to which the driving force from the third actuator is input, and to include rotating bodies of different diameters in the path through which the driving force is transmitted from the third input pulley to the third output pulley, thereby increasing the speed of movement of the third belt in relation to the driving force from the third actuator. The aforementioned moving unit is connected to the third belt, The frame system according to claim 1. [Claim 4] The aforementioned mobile unit is A base portion having a cavity that opens in the vertical direction, configured to supply a plurality of linear structures, including a first linear structure and a second linear structure, from vertically above through the cavity and vertically downward, and A rotating unit configured to rotate vertically around the periphery of the aforementioned cavity, Equipped with, The aforementioned rotating unit is A first moving part is positioned outside the cavity and configured to rotate vertically in accordance with the rotation of the rotating unit, and Outside the cavity, a second moving part is positioned spaced apart from the first moving part in the vertical direction, and is configured to rotate in the vertical direction in accordance with the rotation of the rotating unit while maintaining the positional relationship with the first moving part. Equipped with, The first movable part is a first retaining part configured to hold the first end of a curl formed when the first linear structure hangs vertically downward from the cavity and is then routed vertically upward, the first linear structure includes a first retaining part that hangs further vertically downward from the first end, and The second movable part is a second retaining part configured to hold the second end of a curl formed when the second linear structure hangs vertically downward from the cavity and is then routed vertically upward, the second linear structure includes a second retaining part that hangs further vertically downward from the second end. The frame system according to claim 1. [Claim 5] The aforementioned rotating unit is Supported by the base portion so as to be rotatable around the vertical direction, and having an opening in the vertical up and down direction. A hollow portion, having a central portion that communicates with the cavity of the base portion, A first arm extending vertically downward or inclined from the central portion, the first arm connecting the central portion and the first movable portion, and A second arm extending vertically downward or inclined from the central portion, the second arm connecting the central portion and the second movable portion, It also has, The frame system according to claim 4. [Claim 6] The aforementioned mobile unit is A base portion having a cavity that opens in the vertical direction, configured to supply a linear structure from vertically above through the cavity and vertically downward, and A rotating unit configured to rotate vertically around the periphery of the aforementioned cavity, Equipped with, The rotating unit comprises a movable part positioned outside the cavity and configured to rotate vertically in accordance with the rotation of the rotating unit. The moving part is a holding part configured to hold the end of a curl formed when the linear structure hangs vertically downward from the cavity and is then routed vertically upward, the linear structure includes a holding part that hangs further vertically downward from the end, The frame system according to claim 1. [Claim 7] The first actuator is a variable stiffness actuator. The frame system according to claim 1. [Claim 8] The variable stiffness actuator is composed of a pair of artificial muscles. The frame system according to claim 7. [Claim 9] Each of the aforementioned artificial muscles is A wire for inputting the aforementioned driving force to the first speed-increasing unit, A stopper configured to transmit the driving force to the wire when each of the artificial muscles contracts in the direction that pulls the wire, and An elastic member configured to maintain the tension of the wire when each of the artificial muscles relaxes and the stopper is released, including, The frame system according to claim 8. [Claim 10] Each of the aforementioned artificial muscles is a fluid pressure artificial muscle. The frame system according to claim 8. [Claim 11] The third actuator is a variable stiffness actuator. The frame system according to claim 3. [Claim 12] A load-bearing support device is attached to the aforementioned mobile unit. The frame system according to claim 1. [Claim 13] The aforementioned mobile unit is A base portion having a cavity that opens in the vertical direction, configured to supply a plurality of linear structures, including the first linear structure and the second linear structure of the load-relieving device, vertically downward through the cavity from vertically above, and A rotating unit configured to rotate vertically around the periphery of the aforementioned cavity, Equipped with, The aforementioned rotating unit is A first moving part is positioned outside the cavity and configured to rotate vertically in accordance with the rotation of the rotating unit, and Outside the cavity, a second moving part is positioned spaced apart from the first moving part in the vertical direction, and is configured to rotate in the vertical direction in accordance with the rotation of the rotating unit while maintaining the positional relationship with the first moving part. Equipped with, The first movable part is a first retaining part configured to hold the first end of a curl formed when the first linear structure hangs vertically downward from the cavity and is then routed vertically upward, the first linear structure includes a first retaining part that hangs further vertically downward from the first end toward one of the left or right sides of the user of the load-relieving device, and The second movable part is a second retaining part configured to hold the second end of a curl formed when the second linear structure hangs vertically downward from the cavity and is then routed vertically upward, the second linear structure includes a second retaining part that hangs further vertically downward from the second end toward the other of the left or right of the user. The frame system according to claim 12. [Claim 14] A robotic arm is attached to the aforementioned mobile unit. The frame system according to claim 1. [Claim 15] The aforementioned movable frame is A third output pulley is positioned at one end of the movable frame and at one of the other ends. A third auxiliary pulley is positioned at one end of the movable frame and at the other end of the other end. An endless third belt stretched between the third output pulley and the third auxiliary pulley, and A third speed-increasing unit is configured to receive a driving force input from a third actuator and output the driving force input from the third actuator to a third output pulley, thereby increasing the speed of movement of the third belt. Equipped with, The third speed-increasing unit is configured to include a third input pulley to which the driving force from the third actuator is input, and to include rotating bodies of different diameters in the path through which the driving force is transmitted from the third input pulley to the third output pulley, thereby increasing the speed of movement of the third belt in relation to the driving force from the third actuator. The aforementioned moving unit is connected to the third belt, The frame system according to claim 14. [Claim 16] The robot arm is attached to the mobile unit via a balancer. The frame system according to claim 14. [Claim 17] A first frame system arranged in the first space, and A second frame system located in a second space adjacent to the first space. A system equipped with, The first frame system and the second frame system are, A first fixed frame extending in a first direction, A first output pulley is positioned at one end of the first fixed frame. A first auxiliary pulley is positioned at the other end of the first fixed frame, An endless first belt stretched between the first output pulley and the first auxiliary pulley, and The first actuator is configured to receive a driving force input and output the input driving force to the first output pulley, thereby increasing the speed of movement of the first belt.

1. Speed-increasing unit, A first fixed frame comprising, A second fixed frame extending in the first direction and arranged in parallel with the first fixed frame, A movable frame supported by the first fixed frame and the second fixed frame, extending in a second direction intersecting the first direction, with one end connected to the first belt, configured to move along the first fixed frame and the second fixed frame in accordance with the movement of the first belt, and A movable unit, which is supported by the movable frame and configured to move along the movable frame, Equipped with, The first speed-increasing unit includes a first input pulley to which the driving force from the first actuator is input, and is configured to increase the speed of the movement of the first belt in relation to the driving force from the first input pulley to the first output pulley by including rotating bodies of different diameters in the path through which the driving force is transmitted, The first frame system and the second frame system are positioned at a distance from the boundary between the first space and the second space, and at least near the boundary, such that load-bearing devices can be attached to the moving units of both the first frame system and the second frame system. system. [Claim 18] One of the first and second spaces is a bathroom. The system according to claim 17.

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