JP4345025B2 - Strength assist device - Google Patents

Description

  The present invention relates to a muscle force assisting device, and more particularly to a muscle force assisting device that reduces fatigue in maintaining postures of various operations.

  In the work in the forward bending posture, as an auxiliary device for reducing the muscle load acting on the waist, a part on one end side in the longitudinal direction is attached to a person's shoulder part, and a part on the other end side in the longitudinal direction is attached. There is a lower back burden reducing tool using a stretchable (elastic) belt that is attached to the lower body (waist) of the person and extends along the back of the person (for example, Patent Documents 1 and 2).

  This lumbar load reducing device extends when the belt placed along the back bends forward from an upright posture (stand-up posture), and the muscle tension of the lumbar region using the tension generated in the belt by this extension. To reduce the strain on the lumbar muscles to maintain the forward bending posture.

  In addition, as an assistive device that assists muscle strength with forward bending, the upper and lower distances of an extendable back pad with the upper part fixed to the user's shoulder and the lower part fixed to the user's crotch are extended and retracted by an actuator. There is a muscular strength assisting device (increasing or decreasing) (for example, Patent Document 3).

This muscle strength assist device recognizes the user's forward bending angle by the forward bending angle recognition means, estimates the user's movement from the recognized change in the forward bending angle, for example, the work of lifting a heavy object on the floor by the user In forward bending operation and ground cutting operation, the expansion and contraction force of the actuator is given to the user as an assist force in the same direction as those operations (forward bending operation and ground cutting operation). Provide strength support for movement.
Japanese Patent Laid-Open No. 2003-153828 JP 2005-192664 A JP-A-2005-339

The above-described conventional lower back burden reducing device is based on a passive assisting force (tension) that is generated when the user bends forward from a standing posture, so that an excessive force is not applied to the wearer and the safety is excellent. However, the assisting force (tension) obtained by the belt is determined by the posture of the wearer (user) and cannot be adjusted.

  For this reason, with the conventional lower back burden reducing device, the muscle load on the lower back for maintaining the forward bending posture may not be reduced appropriately depending on the posture of the wearer and the change in posture.

  In addition, if the belt is made of a hard elastic body that generates a large tension to sufficiently reduce the muscular load on the waist when maintaining the forward bending posture, a large force is required to stretch the belt during the forward bending operation. The muscle strain of the operation becomes large, and the forward bending operation is hindered.

  The conventional muscular strength assisting device described above is a yarn that provides the user with the expansion and contraction force of the actuator as an assisting force in the same direction as the operation during forward bending operation and ground cutting operation, and assists muscular strength with respect to the user's operation. This is based on a puppet motion, and does not continuously give the user elastic support force according to the forward bending posture passively according to the posture during the stationary forward bending posture.

  For this reason, the work in the forward bending posture, that is, the muscular burden on the lumbar part in maintaining the forward bending posture cannot be reduced without driving the actuator.

  The problem to be solved by the present invention is to appropriately reduce the strain on the muscles regardless of the posture or posture change of the wearer, and in particular, to reduce the labor at the bent posture or the middle waist in farm work etc. That is.

The muscle force assisting device according to claim 1 detects the state of an elastic body in which a part on one end side in the longitudinal direction is attached to a first part of a person and the part of the person to which the elastic body is attached. A sensor and an actuator that is attached to the second part of the person and connected to a part on the other end side in the longitudinal direction of the elastic body, and extends the elastic body in the longitudinal direction of the elastic body; Control means for controlling the extension amount of the elastic body by the actuator according to the detection result of the sensor.

The muscle force assisting device according to claim 2, an elastic member extending along the person's back portion in the longitudinal direction of the one end is attached to the shoulder of the person, the upper body of the state of the person A sensor to be detected, an actuator that is attached to the lower body of the person and connected to a portion on the other end side in the longitudinal direction of the elastic body, and extends the elastic body in the longitudinal direction of the elastic body; Control means for controlling the amount of expansion of the elastic body by the actuator according to the detection result.

The muscle force assisting device according to claim 3 is the muscle force assisting device according to claim 2, wherein the control means calculates a bending degree indicating a bending state of the upper body of the person based on a detection result of the sensor. and parts, and a the person upper body bending the bending speed calculator for calculating the velocity, and the bending degree calculating section bending degree computed by, depending on the bending speed and calculated by the bending speed calculation section The amount of extension of the elastic body by the actuator is controlled.

The muscle force assisting device according to claim 4 is the muscle force assisting device according to claim 2, wherein the control means calculates a bending degree indicating a bending state of the upper body of the person based on a detection result of the sensor. and parts, have a flexural and acceleration calculator for calculating a upper body bending acceleration of the person, the degree bend which is calculated by the bending degree calculation unit, depending on the bending and the acceleration calculated by the bending acceleration calculator The amount of extension of the elastic body by the actuator is controlled.

The muscle force assisting device according to claim 5 is an elastic body that can be expanded and contracted, a wire connected to one end of the elastic body, an electric wire winding means for winding and unwinding the wire, and the elastic body. an upper fixing means for fixing the other end of the body shoulder of the user, and a lower fixing means for fixing the electric wire winding means to the waist or crotch of the user, the bending of the upper body of the user A sensor for detecting a state; and a control unit for controlling a winding amount and a feeding amount of the wire by the electric wire winding unit according to a detection result of the sensor.

The muscle strength assisting device according to claim 6 is the muscle strength assisting device according to claim 5, wherein the control means calculates a bending degree indicating a bending state of the upper body of the user from a detection result of the sensor. a calculation unit, and a said user's upper body bending the bending speed calculator calculates the speed, the degree bending said computed by bending degree calculation section, the bending rate and which is calculated by the bending speed calculation section Accordingly, the winding amount and feeding amount of the wire by the electric wire winding means are quantitatively controlled.

The muscle strength assisting device according to claim 7 is the muscle strength assisting device according to claim 5, wherein the control means calculates a bending degree indicating a bending state of the upper body of the user from a detection result of the sensor. a calculation unit, wherein and a user's upper body bending bent acceleration calculator for calculating an acceleration, the degree bending said computed by bending degree calculating section, the bent and acceleration bending computed by the acceleration computing unit Accordingly, the winding amount and feeding amount of the wire by the electric wire winding means are quantitatively controlled.

  The muscle force assisting device according to the present invention has the assisting force generated by the elastic body having the role of muscle and a mechanism (actuator) for adjusting the assisting force, and is elastic according to the state of the wearing part of the elastic body of the user. The body stretches to generate passive assisting force (tension), and the amount of stretching of the elastic body by the actuator is controlled by the control means according to the detection result of the sensor. Accordingly, the amount of extension (tension) of the elastic body is adjusted by the actuator, and under semi-active operation, the muscle load is appropriately reduced regardless of the posture of the wearer or changes in posture, Lighten work with posture.

  One embodiment of the muscle strength assisting device according to the present invention will be described with reference to FIG.

  The muscle strength assisting device is generally indicated by reference numeral 10, and includes an elastic body 11, a wire 13 connected to one end (lower end) 11 </ b> A of the elastic body 11 by a connector 12, and winding and unwinding of the wire 13. It has an electric wire winder 14 that performs (feeding out).

The elastic member 11 is of a band shape was flat rubber tube is composed of a rubber-like elastic material having an appropriate elasticity (tensile modulus) is stretchable solely in the longitudinal direction (vertical direction) by the elastic deformation. The elastic body 11 generates tension in the longitudinal direction (vertical direction) as its repulsive force by elastically deforming in the extending direction.

  The wire 13 is a metal wire that does not extend, is wound around the pulley 15 of the electric wire winder 14, and its feeding end is connected to the lower end portion 11 </ b> A of the elastic body 11 by the connector 12.

  The electric wire winder 14 is configured by a pulley 15 and a stepping motor 16 that rotationally drives the pulley 15, and is entirely incorporated in the equipment box 20. The stepping motor 16 drives the pulley 15 to rotate in the wire winding direction by forward rotation, and rotates the pulley 15 to rotate in the wire feeding direction by reverse rotation. The amount of rotation (rotation angle) of forward rotation and reverse rotation of the stepping motor 16 is quantitatively controlled by the number of pulses of the pulse signal applied to the stepping motor 16.

  The electric wire winder 14 extends the elastic body 11 via the wire 13 and variably applies tension to the elastic body 11 according to the amount of wire winding.

  The other end (upper end) 11B of the elastic body 11 is attached with a belt-type shoulder attachment 17 made of cloth, which is an upper fixing means for fixing the upper end 11B of the elastic body 11 to the shoulder of the user (person). It has been.

  The device box 20 is attached with a belt-type waist / thigh attachment device 18 made of cloth, which is a lower fixing means for fixing the device box 20 including the electric wire winder 14 to the waist or crotch of a user (person). It has been.

The equipment box 20 contains a control unit 30 that controls the stepping motor 16 of the electric wire winder 14. The control unit 30 is connected to a bending sensor 21 that detects the state of the user's upper body, in this embodiment, the bending state of the user's upper body (waist). The bending sensor 21 is in the form of a flexible sheet composed of an electric resistance type strain gauge or the like. For example, the bending sensor 21 is affixed to the user's waist surface and receives a current signal that changes according to the degree of bending of the waist. appear.

  A battery power supply unit 22 that supplies power to the stepping motor 16, the control unit 30, and the bending sensor 21 is attached to the waist / groin wearer 18.

The control unit 30 is based on a microcomputer, and as shown in FIG. 2, an A / D converter 31 for inputting a current signal of the bending sensor 21 , a bending curvature calculator 32, and a bending curvature change rate. - having an acceleration calculator 33, an auxiliary Rikien calculation unit 34, a winding length computing unit 35, a motor driver 36 for the stepping motor 16.

In the automatic control mode, the bending curvature calculation unit 32 uses the current signal of the bending sensor 21 A / D converted by the A / D converter 31 as a parameter representing the bending state (forward bending angle) of the user's upper body. Is calculated.

The bending curvature ρ calculated by the bending curvature calculating unit 32 is bent from the upright posture shown in FIG. 3 (a), bending the knee and bending the waist forward as shown in FIG. 3 (b). during bending operation before shifting to the stooped posture was, tended to increase in response to the bending of the lumbar with prior屈動operation, opposed, knees bent as shown in FIG. 3 (b) and this, waist As shown in FIG. 3 (a), in the returning operation to return to the upright posture as shown in FIG. 3 (a), a tendency to decrease according to the fact that the waist is not bent along with the returning operation is shown.

The bending curvature change speed / acceleration calculation unit 33 is a differentiator and serves as both a bending curvature change speed calculation unit and a bending acceleration calculation unit. The bending curvature ρ calculated by the bending curvature calculation unit 32 is differentiated to obtain a bending curvature. The differential value (d ² ρ / d ² t) of the bending speed (dρ / dt) is calculated by differentiating the differential value (dρ / dt) of ρ and the bending speed (dρ / dt).

The differential value (dρ / dt) of the bending curvature ρ represents the bending curvature change speed (bending speed). The differential value (d ² ρ / d ² t) of the bending speed (dρ / dt) is a second-order differential value of the bending curvature ρ and represents the bending acceleration.

Auxiliary Rikien calculation unit 34, the bending curvature calculating unit 32 calculating flexural differential value of the curvature ρ by the curvature change rate and acceleration computing unit 33 and bending the bending curvature ρ is computed by (dp / dt), the bending state A corresponding auxiliary force increment ΔF is calculated. The calculation of the auxiliary force increment ΔF by the auxiliary force calculation unit 34 is performed according to the following expression (1).

ΔF = Kp · ρ−Kd (dρ / dt) −Ks (d ² ρ / d ² t) (1)
However, Kp, Kd , and Ks are gains, respectively.

  The winding length calculating unit 35 calculates the wire winding / feeding length L by the pulley 15 from the auxiliary force increment ΔF calculated by the auxiliary force calculating unit 34, and according to the calculated wire winding / feeding length L. The pulse signal is output to the motor driver 36. The calculation of the wire winding / feeding length L by the winding length calculator 35 is performed according to the following equation (2).

L = ΔF / E (2)
However, E is the tensile elastic modulus of the elastic body 11.

  When the auxiliary force increment ΔF increases and changes, the wire winding / feeding length L is a length for winding the wire 13. In this case, the winding length calculating unit 35 A pulse signal for forwardly rotating the stepping motor 16 by the amount of rotation corresponding to the feed length L is output to the motor driver 36.

  On the other hand, when the auxiliary force increment ΔF is reduced and changed, the wire winding / feeding length L is a length for feeding the wire 13. In this case, the winding length calculation unit 35 A pulse signal that reversely rotates the stepping motor 16 by the amount of rotation corresponding to the winding / feeding length L is output to the motor driver 36.

  A manual button 23 is attached to the device box 20. The manual button 23 operates the electric wire winder 14 by manual operation, operates the motor driver 36 according to the manual operation, and rotates the stepping motor 16 forward or backward.

  Next, the operation of the muscle force assisting device having the above-described configuration will be described.

  As shown in FIG. 1, the muscle strength assisting apparatus 10 is configured such that a shoulder mounting device 17 is mounted on a user's shoulder and a waist / groin mounting device 18 is mounted on the user's waist / groin. The upper end portion 11B of the elastic body 11 is fixed to the shoulder portion of the user, and the device box 20 including the electric wire winder 14 is fixed to the waist portion or crotch portion of the user. The bending sensor 21 is attached to the user's waist surface.

When the above installation is completed, as shown in FIG. 3 (a), the electric wire winder 14 is manually operated by manually operating the manual button 23 with the power on in the upright (standing) position. is operated, in an upright position, the elastic member 11 is set to Wa ear winding-feeding length of the wire 13 a little slack out length in the attached state to the free state or user unextended deformed. This is an initial setting operation and can be omitted when the same person repeatedly uses it.

  Next, by turning on a start button (not shown), the electric wire winder 14 enters an automatic control mode by the control unit 30.

From the upright posture shown in FIG. 3 (a), as shown in FIG. 3 (b), a posture bent by a forward bending operation in which the knee is bent and the waist is bent forward and a forward bending posture of the middle waist. Then, the bending sensor 21 is bent in accordance with the bending of the waist portion.

The current signal output from the bending sensor 21 is input to the A / D converter 31 of the control unit 30 at the same time when the start button is turned on, and the bending curvature calculation unit 32 is A / D converted by the A / D converter 31 . The bending curvature ρ of the waist of the user (the person wearing the muscle force assisting device 10) is calculated from the current signal of the bending sensor 21 , and the bending curvature change speed / acceleration calculating unit 33 is calculated by the bending curvature calculating unit 32. The differential values (dρ / dt) and (d ² ρ / d ² t) of the bending curvature ρ thus calculated are calculated.

Then, the auxiliary force calculation unit 34 calculates the bending curvature ρ calculated by the bending curvature calculation unit 32 and the differential value (dρ / dt) of the bending curvature ρ calculated by the bending curvature change speed / acceleration calculation unit 33 and (dρ ² ρ / d ² t), the auxiliary force increment ΔF is calculated by the mathematical formula (1).

During the forward bending operation, as shown in FIG. 4A, the assisting force increment ΔF increases as the bending curvature ρ of the waist increases. At the time of the forward bending operation, the auxiliary force increment ΔF is added as a negative component according to Equation (1) because the differential values (dρ / dt) and (d ² ρ / d ² t) of the bending curvature ρ are positive values. It shows a tendency to increase later in time than the start of forward bending.

  Then, the winding length calculation unit 35 calculates the wire winding / feeding length L from the auxiliary force increment ΔF calculated by the auxiliary force calculating unit 34, and has the number of pulses corresponding to the wire winding / feeding length L. The motor driver 36 rotates the stepping motor 16 forward. As a result, the pulley 15 rotates forward, and the wire 13 is wound around the pulley 15 by the wire winding / feeding length L. The elastic body 11 expands (elastically deforms) in the longitudinal direction in accordance with the winding amount of the wire 13, and tension in the longitudinal direction (vertical direction) is generated as a repulsive force.

  The tension generated by the elastic body 11 is continuously given to the user (wearer) according to the forward bending posture as an auxiliary force of the back muscle force, and reduces the muscle load on the waist in the work in the continued forward bending posture. In other words, the muscle load on the lumbar region for maintaining the forward bending posture is reduced.

The auxiliary force due to the extension of the elastic body 11 in the longitudinal direction is quantitatively adjusted and set based on the actual bending curvature ρ of the waist during the forward bending posture determined as the detection result of the bending sensor 21 by the control described above. Therefore, any forward bending posture with different postures is set appropriately without excess or deficiency. As a result, the strain on the muscles is appropriately reduced regardless of the posture of the wearer, and in particular, the bent posture and the work on the middle waist in the agricultural work are lightened.

As described above, during the forward bending operation, the auxiliary force increment ΔF takes into account the differential values (dρ / dt) and (d ² ρ / d ² t) of the bending curvature ρ as negative components, and the time from the start of the forward bending operation. The wire 13 is wound up with a slight delay during the forward bending operation, and the repulsive force due to the longitudinal extension of the elastic body 11 is generated with a slight delay with respect to the forward bending operation. Will come to do. This repulsive force characteristic is equivalent to the auxiliary force increment ΔF shown in FIG.

  Thereby, the degree to which the wearer himself extends the elastic body 11 in the longitudinal direction by the forward bending operation is reduced, and accordingly, the wearer's force for extending the elastic body 11 during the forward bending operation is reduced. Accordingly, since the elastic body 11 is stretched during the forward bending operation, the muscle load of the forward bending operation is not increased, the forward bending operation is not resistance, and is equivalent to when the muscle strength assisting device 10 is not attached. It is performed without feeling a sense of incongruity.

When returning from the forward bending posture shown in FIG. 3 (b) to the upright posture as shown in FIG. 3 (a), the bending is performed according to the reduction or disappearance of the bending of the waist. The sensor 21 is not bent. In this way, during the return operation, the bending sensor 21 is not bent, and as shown in FIG. 4B, the assisting force increment ΔF is reduced as the bending curvature ρ of the waist is reduced. . At the time of the return operation, the auxiliary force increment ΔF is added as a plus component according to Equation (1) because the differential values (dρ / dt) and (d ² ρ / d ² t) of the bending curvature ρ are negative values. It shows a tendency to decrease later in time than the return operation starts.

  Then, the winding length calculation unit 35 calculates the wire winding / feeding length L from the auxiliary force increment ΔF calculated by the auxiliary force calculating unit 34, and has the number of pulses corresponding to the wire winding / feeding length L. The motor driver 36 rotates the stepping motor 16 in the reverse direction. As a result, the pulley 15 rotates in the reverse direction, and the wire 13 is fed out of the pulley 15 by the wire winding / feeding length L. When the elastic body 11 is reduced in elongation in the longitudinal direction (elastic deformation) in accordance with the amount of the wire 13 fed out and returns to the original upright posture, the elastic body 11 returns to the original initial state where the elastic deformation is eliminated.

At the time of the return operation, the auxiliary force increment ΔF tends to decrease with a time delay from the start of the return operation, with the differential values (dρ / dt) and (d ² ρ / d ² t) of the bending curvature ρ taken into account as positive components. Therefore, during the return operation, the wire 13 is fed out with a slight delay, and the repulsive force due to the extension of the elastic body 11 in the longitudinal direction decreases and disappears with a slight delay with respect to the return operation. This repulsive force characteristic is equivalent to the auxiliary force increment ΔF shown in FIG.

  Thereby, at the time of the return operation, the restoring force (repulsive force) of the elastic body 11 acts on the wearer so as to assist the muscle force required for the return operation, and the muscle load at the time of the return operation is reduced.

In the above-described embodiment, both the differential value (dρ / dt) indicating the bending change rate and (d ² ρ / d ² t) indicating the bending acceleration are added to the calculation of the auxiliary force increment ΔF. The muscle force assisting device according to the present invention is not limited to this, and the assist force increment ΔF is calculated by taking into account only the differential value (dρ / dt) indicating the bending change speed and bending acceleration (d ^2). The calculation may be performed with only ρ / d ² t).

  Further, the shape of the elastic body 11 of the muscle force assisting apparatus 10 is not limited to the I shape shown in FIG. 1, but may be a V shape as indicated by reference numeral 41 in FIG. May have a shape similar to the shape of the spine as indicated by reference numeral 51 in FIG. In addition to this, the shape of the elastic body 11 may be a vertically inverted V shape or an X shape.

  5 and FIG. 6, parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1 and description thereof is omitted.

  Further, as shown in FIG. 7, as indicated by reference numerals 61 and 62, the belt-like elastic body is doubled, and the back is closer to the elastic body 61 at a position closer to the forward bending direction side (back side). A structure in which the initial length of the elastic body 62 at a farther position is longer may be used.

  In this case, during the forward bending operation, the elastic body 61 first expands, and then the elastic body 62 is extended. Therefore, the tension generated by the expansion of the elastic bodies 61 and 62 during the forward bending operation is increased in two stages. can do.

It is explanatory drawing which shows one Embodiment of the muscular strength assistance apparatus by this invention. It is a block diagram which shows one Embodiment of the control system of the muscular strength assistance apparatus by this invention. (A) typically shows the upright posture state of the wearer wearing the muscle force assisting device according to one embodiment, and (b) is a diagram schematically showing the forward bending posture state of the wearer. (A) is a graph showing the characteristics of the bending curvature and auxiliary force of the waist during the forward bending operation, and (b) is a graph showing the characteristics of the bending curvature and auxiliary force of the waist during the returning operation. It is explanatory drawing which shows other embodiment of the muscular strength assistance apparatus by this invention. It is explanatory drawing which shows other embodiment of the muscular strength assistance apparatus by this invention. It is explanatory drawing which shows other embodiment of the elastic body used for the muscular strength assistance apparatus by this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Elastic body 12 Connection tool 13 Wire 14 Electric wire winder 15 Pulley 16 Stepping motor 17 Shoulder mounting tool 18 Waist / groin mounting tool 20 Equipment box 21 Bending sensor 22 Battery power supply unit 23 Manual button 30 Control unit 31 A / D Converter 32 Bending curvature calculating unit 33 Bending curvature changing speed / acceleration calculating unit 34 Auxiliary force calculating unit 35 Winding length calculating unit 36 Motor driver 41 Elastic body 51 Elastic body 61, 62 Elastic body

Claims (7)

An elastic body in which a part on one end in the longitudinal direction is attached to a first part of a person;
A sensor for detecting a state of the part of the person to which the elastic body is attached;
An actuator that is attached to the second part of the person and connected to a part on the other end side in the longitudinal direction of the elastic body, and extends the elastic body in the longitudinal direction of the elastic body;
Control means for controlling the extension amount of the elastic body by the actuator according to the detection result of the sensor;
A muscle strength assisting device characterized by comprising: An elastic member extending along the person's back portion in the longitudinal direction of the one end is attached to the shoulder of the person,
A sensor for detecting the state of the upper body of the person;
An actuator that is attached to the lower body of the person and connected to a portion on the other end side in the longitudinal direction of the elastic body, and extends the elastic body in the longitudinal direction of the elastic body;
Control means for controlling the extension amount of the elastic body by the actuator according to the detection result of the sensor;
A muscle strength assisting device characterized by comprising: The muscle strength assisting device according to claim 2,
The control means includes a bending degree calculation unit that calculates a bending degree indicating a bending state of the upper body of the person from a detection result of the sensor, and a bending speed calculation unit that calculates a bending speed of the upper body of the person,
The bending degree and the bending degree calculated by the calculation unit, the bending power assisting device in accordance with the computed bending speed by the speed calculation unit and controls the amount of extension of the elastic body by the actuator. The muscle strength assisting device according to claim 2,
Wherein said control means includes said detection result from the person of the upper body of the bending the bending degree calculation unit calculates a bending degree indicating the state of the sensor, the bending and acceleration calculator for calculating a bending acceleration of the upper body of the person,
Wherein the degree bend which is calculated by the degree calculation section bending, the bending power assisting apparatus characterized by controlling the expansion amount of the elastic member by the actuator in accordance with the the calculated bending acceleration by the acceleration calculating unit. A stretchable elastic body;
A wire connected to one end of the elastic body;
Electric wire winding means for winding and unwinding the wire;
Upper fixing means for fixing the other end of the elastic body to the shoulder of the user;
A lower fixing means for fixing the electric wire winding means to the waist or crotch of the user,
A sensor for detecting the upper body of the bending state of the user,
Control means for controlling the winding amount and feeding amount of the wire by the electric wire winding means according to the detection result of the sensor;
A muscle strength assisting device characterized by comprising: The muscular strength assisting device according to claim 5,
The control means includes a bending degree calculation unit that calculates a bending degree indicating a bending state of the upper body of the user from a detection result of the sensor, and a bending speed calculation unit that calculates a bending speed of the upper body of the user. And
The degree bend which is calculated by the bending degree calculating unit, the take-up amount of the wire by the electric wire winding means in response to the computed bending speed by the bending speed calculation section, feeding amount quantitatively controlled muscle force assisting device which is characterized in that. The muscular strength assisting device according to claim 5,
Wherein the control means, chromatic and bending degree calculating section for calculating a degree bend showing the upper body of a bending state of the user from the detection result of the sensor, the bending and acceleration calculator for calculating a upper body bending acceleration of the user And
Quantitative control of the winding amount and the feeding amount of the wire by the electric wire winding means according to the bending degree calculated by the bending degree calculating unit and the bending acceleration calculated by the bending acceleration calculating unit muscle force assisting device which is characterized in that.

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