Assist device

Abstract

To provide a technique that can restrict application of assist force, when an assist device is in a crouching posture.SOLUTION: An assist device 10 comprises: a first fitting tool 11 that is fitted to shoulder parts and a chest part; a second fitting tool 12 that is fitted to leg parts; an actuator 14 that generates assist force for assisting turning of thigh parts, between the first fitting tool 11 and the second fitting tool 12; a control part 40 that controls the actuator 14; a sensor 38 that detects an angle of an upper body with respect to a direction perpendicular to an upper body of a user; and a rotation detector 36 that detects an operation amount of the actuator 14. The control part 40 executes calculation processing 40a1 for determining a first differential value ΔθL between the upper body angle θL and a reference angle with respect to the upper body angle θL and determining a second differential value ΔθM between a rotation angle θM and a reference rotation angle in the reference angle, and determination processing 40a3 for determining whether or not application of the assist force should be restricted, on the basis of a result of comparison of the first differential value ΔθL with the second differential value ΔθM.SELECTED DRAWING: Figure 5

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