To provide a leg joint assist device which can effectively reduce the load on a joint actuator of the leg-type mobile robot, ensure the excellent utilization efficiency of the energy, and miniaturize the configuration.
This assist device 14 has a spring means 15 to generate the auxiliary drive force applied to a joint 8 of a leg 3 by the elastic energy. The spring means 15 is a pneumatic spring having a cylinder 17 and a piston 18, and the bending motion between link members 4 and 5 at the joint 8 is transmitted via a motion transmitting means 16 having a link arm 22 or the like. The spring means 15 is provided so that the auxiliary drive force is increased as the knee bending angle θ is increased before the knee bending angle θ reaches a predetermined value, and the auxiliary drive force is not more than the drive force at the predetermined angle after the knee bending angle exceeds the predetermined value.
GOMI HIROSHI
HAMAYA ICHIJI
TAKEMURA YOSHIYA
