JP2018192571A - Operation auxiliary device - Google Patents

Abstract

To provide an operation auxiliary device which can suppress deviation of a fitting member for fitting an arm member to a thigh part.SOLUTION: An operation auxiliary device comprising: an active articulation part which is located at a position corresponding to a lateral hip joint of a user; an arm member which is so supported as to be rotatable around the active articulation part; an actuator which generates a rotational torque of the arm member; and a fitting member for fitting the arm member to a thigh part of the user. In the operation auxiliary device, the fitting member comprises: a base material to which the arm member is connected and which is wound on the thigh part; and a fastening part including at least one fastener which connects a first part on a first side and a second part on the other side in a winding direction of the base material.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an operation assisting device that is used by being worn on a human body and generates an assisting force for a user's operation.

  2. Description of the Related Art In recent years, an operation assisting device that assists operations such as a walking operation by a person and a stair climbing operation is known. The motion assisting device is also called a human body-mounted robot. The motion assisting device is used by being attached to a human body, and assists the user's motion by generating an assisting force corresponding to the user's motion. For example, the motion assisting device includes an arm member that can rotate around a joint portion (active joint portion) arranged on a rotation axis of a joint of a human body, and the arm member is rotated by driving the arm member by an actuator. Assist the movement of the fixed human body part. Such a motion assist device is used in various situations, for example, as a device that assists not only a disabled person or an elderly person but also a healthy person.

  The rotating arm member is fixed to the human body using an attachment (a mounting member) having a shape corresponding to the outer shape of the part of the human body to be fixed. For example, as an operation assisting device that assists the user's lower / back limb movement, the lumbar frame is fixed to the lumbar part of the human body, and the arm member that is rotatably connected to the lumbar frame via the active joint part is used as the mounting member. Some are used and fixed to the thigh or lower leg of the human body. The main purpose of the mounting member for fixing the arm member to the human body is to efficiently transmit the rotational torque applied to the arm member by the actuator to the thigh and to support a part of the weight of the motion assisting device. There is. However, since the distance between the position of the active joint portion and the fixing position of the mounting member changes with the operation of the user, it is not easy to prevent the fixing position of the mounting member from shifting.

  Here, the connection method between the arm member and the mounting member is roughly classified into a method in which the members are firmly fixed to each other, and a method in which the connection position is flexible by an extension mechanism or the like. In the former, a shearing force is generated between the mounting member and the thigh, and the mounting member may be displaced from the thigh. On the other hand, in the latter case, no shear force is generated by a method having a degree of freedom, and the displacement of the mounting member from the thigh due to the shear force does not occur, but the displacement due to the weight of the mounting member occurs. There is a fear.

  As an example of compensating for the weight of the mounting member in the connection method having the degree of freedom by the latter expansion / contraction mechanism or the like, Patent Document 1 discloses that the user can be firmly attached to the user's body and ensure a certain degree of freedom. A walking assist device that can be used is disclosed. The walking assist device described in Patent Document 1 allows the dimension between the hip joint actuator and the knee joint actuator to be expanded and contracted by a connecting bar composed of an outer tube and an inner rod coupled in a telescopic manner so as to be relatively slidable. ing. Further, in such a walking assistance device, a tension coil spring connected to the inner rod is incorporated in the outer tube, for example, and the tension in a direction to support the weight of the inner rod to which the weight of the knee joint actuator is applied. Is always working.

JP 2004-344306 A

  As described above, in the case of the connection method in which the arm member and the mounting member are firmly fixed, the mounting member may be displaced from the thigh due to the weight of the device. On the other hand, as described in Patent Document 1, even in the case of the connection method having a degree of freedom at the connection position, when the spring constant of the tension coil spring is constant, the direction of the tension is changed to the direction of gravity by rotating the hip joint. Since it is not constant, the equilibrium point of the spring changes. Thereby, even in the case of a connection method having a degree of freedom at the connection position, there is still a possibility that a shift due to the weight of the mounting member may occur.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a new and improved motion assist capable of suppressing the displacement of the mounting member for attaching the arm member to the thigh. To provide an apparatus.

  In order to solve the above-described problem, according to an aspect of the present invention, an active joint unit disposed at a position corresponding to a hip joint on a side of a user, and an arm that is rotatably supported around the active joint unit In a motion assisting device comprising a member, an actuator for generating rotational torque of the arm member, and a mounting member for attaching the arm member to the user's thigh, the mounting member is connected to the arm member and the thigh A first portion on one side and a second portion on the other side provided in the middle of the winding direction around the thigh of the substrate. And a fastening portion including at least one fastener to be connected.

  As described above, according to the present invention, the displacement of the mounting member for attaching the arm member to the thigh can be suppressed.

It is a front view which shows the structural example of the operation assistance apparatus which concerns on embodiment of this invention. It is a side view showing the example of composition of the operation auxiliary device concerning the embodiment. It is an expanded view which shows the structural example of a thigh part mounting member. It is explanatory drawing which shows the state in the middle of mounting | wearing of a thigh mounting member. It is explanatory drawing which shows the state after mounting | wearing of a thigh mounting member.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<1. Example of overall configuration of motion assist device>
First, with reference to FIGS. 1-2, the example of whole structure of the operation assistance apparatus 1 which concerns on this embodiment is demonstrated. FIG. 1 is a front view illustrating a configuration example of the motion assisting device 1, and FIG. 2 is a side view illustrating a configuration example of the motion assisting device 1.

  The motion assisting apparatus 1 according to the present embodiment is an example in which the arm member 33 and the thigh mounting member 100 are connected via the slide mechanism 50 and configured by a connection method having a degree of freedom at the connection position. The motion assisting device 1 has first joint portions (active joint portions) 30 disposed on the left and right sides of the hip joint of the human body. It is configured as a device that assists stair ascent and descent. The movement assist device 1 is also called a so-called exoskeleton robot. The motion assisting device 1 includes a mounting tool 10, an actuator 20, and a control device 22. In the motion assisting apparatus 1 according to the present embodiment, the mounting tool 10 includes a waist frame 31, a waist fixing belt 13, an arm member 33, a thigh mounting member 100, and a slide mechanism 50. In the present embodiment, the thigh mounting member 100 is a member corresponding to the mounting member in the present invention.

  Of the mounting tool 10, the waist frame 31 and the arm member 33 are formed of a light metal such as aluminum or a resin material, for example, and have a predetermined degree of rigidity. Therefore, the waist frame 31 and the arm member 33 are components that are difficult to deform. On the other hand, the waist fixing belt 13 is formed of a stretchable woven fabric, a knitted fabric, an elastic material, or the like so as to generate a tightening force on the thigh. As the elastic material, for example, chloroprene rubber which is excellent in mechanical strength and weather resistance and further has heat resistance, cold resistance and oil resistance is suitably used.

  The waist frame 31 is disposed on the waist of the human body of the user H and is fixed by the waist fixing belt 13. The waist fixing belt 13 has a connecting tool (not shown) such as a buckle or a hook-and-loop fastener, for example, and the waist fixing belt 13 is wound by connecting the connecting tool to fix the waist frame 31 to the waist. The lower side of the waist frame 31 extends to a portion located on the side of the waist.

  An arm member 33 is connected to a portion of the waist frame 31 located on the side of the human body via the first joint portion 30 and the second joint portion 90. Among these, the first joint portion 30 is an active joint that is rotationally driven by the actuator 20. The first joint portion 30 is located on the side of the hip joint of the human body of the user H and is disposed on the rotation axis of the hip joint. The first joint portion 30 connects the waist frame 31 and the arm member 33 including the second joint portion 90 so as to be relatively rotatable in response to the bending and stretching operation of the hip joint of the human body. That is, the 1st joint part 30 makes the waist frame 31 and the arm member 33 relatively rotatable along the front-back direction of a human body.

  The second joint portion 90 is a passive joint portion that rotates in accordance with the operation of the user H. The second joint portion 90 couples the waist frame 31 and the arm member 33 so as to be relatively rotatable in response to the inward and outward motions of the hip joint of the human body. In other words, the second joint portion 90 allows the waist frame 31 and the arm member 33 to be rotated relatively to the side of the human body. Although the second joint portion 90 may be omitted, the movement assisting device 1 includes the second joint portion 90 in addition to the first joint portion 30 to cope with the movement of the human hip joint. Thus, the degree of freedom of the motion assisting device 1 that operates is increased.

  The arm member 33 extends downward from the first joint 30 along the thigh of the user H. A thigh attachment member 100 is connected to the lower side of the arm member 33 via a slide mechanism 50. The slide mechanism 50 connects the arm member 33 and the thigh mounting member 100 so as to be relatively slidable in the length direction of the human thigh. The configuration of the slide mechanism 50 is not particularly limited. For example, the slide mechanism 50 may be an apparatus including a guide rail 39 and a movable block 47 assembled on the guide rail 39 via a plurality of transfer balls (not shown). In the example of the slide mechanism 50, the guide rail 39 is disposed along the length direction of the user's thigh, and the movable block 47 is attached to the lower side of the arm member 33.

  As a result, when the distance between the first joint portion 30 and the position where the thigh mounting member 100 is fixed to the thigh changes with the operation of the user H, the arm member 33 and the thigh The mounting member 100 can move relative to each other to reduce the shearing force. In particular, in the motion assisting apparatus 1 according to the present embodiment, the lumbar frame 31 and the arm member 33 are connected not only through the first joint part 30 but also through the second joint part 90, and the first joint part. Although the distance between the position 30 and the fixing position of the thigh mounting member 100 is easily changed, the shearing force can be reduced because the slide mechanism 50 is provided.

  The thigh mounting member 100 has a base material 37. The base material 37 is connected to the arm member 33 via the slide mechanism 50, and is wound around the thigh of the user H. A guide rail 39 of the slide mechanism 50 is attached to the base material 37. The thigh mounting member 100 includes a connecting tool (not shown), and the base material 37 is fixed to the thigh by connecting the connecting tool with the base material 37 wound around the thigh. The base material 37 is at least partially formed of stretchable woven fabric, knitted fabric, elastic material, or the like. As the elastic material, for example, chloroprene rubber which is excellent in mechanical strength and weather resistance and further has heat resistance, cold resistance and oil resistance is suitably used. In addition, the specific structure of the thigh mounting member 100 of the motion assist device 1 according to the present embodiment will be described in detail later.

  The motion assisting device 1 includes a biological signal sensor (not shown) that detects a user's biological signal such as a myoelectric potential signal. The biological signal sensor may be a contact sensor that is directly attached to the skin of the human thigh, or may be a non-contact sensor that is installed on the surface of the thigh through clothing or the like. May be. The biological signal sensor is installed in accordance with the position of the exercise unit (muscle) corresponding to the muscle force assisted by the motion assisting device 1. The motion assisting device 1 according to the present embodiment is a device that assists the user H in the longitudinal motion of the left and right lower limbs. It is arranged at a position where the myoelectric potential can be detected.

  A case 5 is provided on the back side of the waist frame 31. A control device 22 and a battery unit 25 are accommodated in the case 5. The control device 22 acquires information on a biological signal such as a myoelectric potential signal detected by the biological signal sensor, performs arithmetic processing, and controls a current supplied to the actuator 20. The control device 22 includes a processor such as a CPU (Central Processing Unit) or MPU (Micro Processing Unit) and an electronic component such as a storage element, and is electrically connected to the biological signal sensor and the actuator 20. . The control device 22 and the biological signal sensor or actuator 20 may be connected by wireless communication means.

  In the motion assisting apparatus 1 according to this embodiment, the actuator 20 is provided in the first joint portion 30. As the actuator 20, for example, a rotary motor composed of a stepping motor or a brushless motor is used. The actuator 20 may have a speed reducer that decelerates the rotation output by the actuator 20. The arm member 33 connected to the waist frame 31 via the first joint portion 30 rotates about the first joint portion 30 by the rotational torque output from the actuator 20. Thereby, the movement of the thigh of the user H to which the arm member 33 is fixed is assisted in the front-rear direction.

  The actuator 20 may be provided at a position away from the first joint portion 30. In this case, the rotational torque output from the actuator 20 is transmitted to the first joint portion 30 via a power transmission mechanism including, for example, a pulley and a flexible cable, and the rotational drive of the first joint portion 30 is controlled. Is done. When the actuator 20 is provided at a position away from the first joint portion 30, the actuator 20 is not limited to a rotary rotary motor, and may be an actuator that combines a linear motor and a rotation mechanism.

  In the motion assisting device 1, information on a biological signal such as a myoelectric potential signal generated in accordance with the user H's intention to move is detected by the biological signal sensor, and the control device 22 performs the first joint based on the information on the biological signal. The required torque of the unit 30 or the actuator 20 is calculated. Further, the control device 22 determines the control amount (for example, supply current) of the actuator 20 based on the calculated required torque, and controls the driving of the actuator 20. As a result, the actuator 20 is driven to rotate, and the arm member 33 is rotated, thereby generating an assisting force for the longitudinal movement of the lower leg of the user H.

<2. Configuration example of thigh attachment member>
Next, a configuration example of the thigh attachment member 100 provided in the motion assisting apparatus 1 according to the present embodiment will be described with reference to FIG. FIG. 3 is an explanatory view showing a configuration example of the thigh mounting member 100 and is a development view showing a state in which the thigh mounting member 100 is developed.

  The thigh mounting member 100 includes a base material 37, connecting members 121 and 123, and a fastening portion 110. The base material 37 has a first portion 37a on one side in the winding direction around the thigh and a second portion 37b on the other side, and the first portion 37a and the second portion 37b Are connected via a fastening part 110. The fastening portion 110 connects the first portion 37a and the second portion 37b of the base material 37 in the winding direction around the thigh. As described above, at least one of the first portion 37a and the second portion 37b of the base member 37 is made of a stretchable fabric or knitted fabric, or an elastic material.

  The first portion 37a is a portion located on the front side of the thigh when worn, and the guide rail 39 of the slide mechanism 50 is attached to the first portion 37a. The guide rail 39 is arranged along the length direction of the thigh, that is, along the direction intersecting the winding direction around the thigh. A movable block (not shown) is attached to the guide rail 39 so as to be movable in the length direction of the guide rail 39, and the arm member 33 is connected to the guide rail 39 via the movable block. Thereby, the arm member 33 and the thigh mounting member 100 can slide relatively. In FIG. 3, the upper side of the figure is the hip joint side, the lower side is the knee joint side, and the arm member 33 extends upward.

  In the present embodiment, the second portion 37b is a portion that is positioned on the back side of the thigh at the time of wearing, for example, and hook fasteners as the connecting members 121 and 123 are provided on the end portion side opposite to the fastening portion 110. Have. In the state where the base material 37 is wound around the thigh, the thigh attachment member 100 is attached to the first portion 37a by attaching the hook-and-loop fasteners as the connecting members 121 and 123 provided in the second portion 37b. Fixed to the thigh. The couplers 121 and 123 may not be hook-and-loop fasteners, and may be coupled using, for example, a buckle.

  The fastening part 110 is provided in the middle of the winding direction of the base material 37 around the thigh, and includes at least one fastener 111, 113 that connects the first part 37a and the second part 37b. In the present embodiment, the fastening portion 110 includes a first fastener 111 and a second fastener 113. Both the slider 111a of the first fastener 111 and the slider 113a of the second fastener 113 move in a direction intersecting the winding direction of the base material 37 around the thigh. Accordingly, the entire length of the base member 37 is expanded or contracted by fastening or opening at least one of the first fastener 111 or the second fastener 113.

  The moving direction of the slider 111a of the first fastener 111 and the moving direction of the slider 113a of the second fastener 113 are opposite. The first fastener 111 is fastened by moving the slider 111a downward, and is released by moving the slider 111a upward. Since the first fastener 111 is opened in a fan shape downward when opened, the fastening force of the base material 37 on the knee joint side of the thigh is mainly increased by fastening the first fastener 111. Can be made. On the other hand, the second fastener 113 is fastened by moving the slider 113a upward, and is released by moving the slider 113a downward. Since the second fastener 113 is opened in a fan shape upward when opened, fastening the second fastener 113 mainly increases the tightening force of the base material 37 on the base side of the thigh. be able to.

  In this way, by fastening at least one of the first fastener 111 or the second fastener 113 and increasing the tightening force of the base material 37 to the thigh, the positional displacement of the thigh mounting member 100 can be reduced. Can be suppressed. At this time, the fastening portion 110 only needs to have at least one fastener. At that time, it is possible to select whether to fasten the fastener by moving the slider in the vertical direction based on whether the tightening force on the knee joint side or the root side of the thigh is to be increased. it can. However, by providing the first fastener 111 and the second fastener 113 in which the moving directions of the sliders 111a and 113a at the time of fastening are reversed as in the thigh mounting member 100 according to the present embodiment, the user or the assistant A person can select an arbitrary fastener and fasten the base material 37. Alternatively, the base material 37 can be uniformly tightened by tightening the first fastener 111 and the second fastener 113 together.

  In the present embodiment, the base material 37 of the thigh mounting member 100 is connected by the third portion 37c and the fourth portion 37d even at the positions of the first fastener 111 and the second fastener 113. Not completely separated. For this reason, handling is easy even when the first fastener 111 and the second fastener 113 are opened. However, the first portion 37a and the second portion 37b of the base member 37 connected by the first fastener 111 and the second fastener 113 are completely separated in the winding direction around the thigh. May be.

  Further, the thigh mounting member 100 includes two protective belts 131 and 135 extending from the fastening portion 110 to the second portion 37 b side of the base material 37. The protective belts 131 and 135 have hook-and-loop fasteners 133 and 137 on the tip side, respectively. The protective belts 131 and 135 are folded back toward the first portion 37a so as to cover the fastening portion 110, and the surface fasteners 133 and 137 are attached to the first portion 37a. Accordingly, the state where the base material 37 is fastened by at least one of the first fastener 111 or the second fastener 113 is reinforced, and the fastened first fastener 111 or the second fastener 113 is naturally released. Is suppressed. The number of protection belts 131 and 135 is not limited to two.

  The fastening part 110 may have three or more fasteners. Moreover, in the example of this embodiment, the 1st fastener 111 and the 2nd fastener 113 are provided in the one fastening part 110, However, When using two or more fasteners, a fastening part isolate | separates into two or more. May be. For example, the fastening part which has the 1st fastener 111 of the structure which moves and clamps the slider 111a below is provided inside a thigh, and the structure which moves and clamps the slider 113a upwards outside a thigh A fastening portion having the second fastener 113 may be provided.

  Next, with reference to FIGS. 3 to 5, how the thigh mounting member 100 of the motion assisting apparatus 1 according to the present embodiment is mounted on the thigh of the human body will be described. 3 to 5 show how the thigh attachment member 100 is attached to the thigh of the right leg of the human body. 3 and 4 show the right leg thigh of the human body in an upright state as viewed from the front, and FIG. 5 shows the right leg thigh of the human body with the right knee raised inward. It shows how it was seen from. In FIG. 5, the illustration of the arm member 33 is omitted.

  First, as shown in FIG. 3, with both the first fastener 111 and the second fastener 113 opened, the thigh is so positioned that the guide rail 39 of the slide mechanism 50 is located on the front of the thigh. A mounting member 100 is disposed.

  Next, as shown in FIG. 4, the base 37 is wound around the thigh, and the hook-and-loop fasteners 121 and 123 provided at the ends of the second portion 37 b of the base 37 are the base 37. Is attached to the first portion 37a. For example, the base material 37 is wound around the thigh to such an extent that the thigh rough attachment member 100 lightly tightens the thigh using the stretchability or elasticity of the base material 37. Thereafter, the slider 111a of the first fastener 111 is moved, and the first fastener 111 is fastened. Thereby, the clamping force of the base material 37 on the knee joint side of the thigh is increased.

  Next, as shown in FIG. 5, the slider 113 a of the second fastener 113 is moved and the second fastener 113 is fastened. Thereby, the clamping force of the base material 37 on the base side of the thigh is increased. Further, the two protective belts 131 and 135 extending toward the second portion 37 b of the base member 37 are folded back so as to cover the fastening portion 110, and the hook-and-loop fasteners 133 and 137 provided on the front end side of the protective belts 131 and 135. Is affixed to the first portion 37a.

  Note that it is not essential that both the first fastener 111 and the second fastener 113 be fastened, and the user or an assistant or the like can select the first fastener 111 or the first fastener depending on the position where the tightening force is to be increased. At least one of the two fasteners 113 may be fastened. Furthermore, when the first fastener 111 or the second fastener 113 is fastened, it may not be fastened completely, and may be fastened halfway. Thereby, the extent or range which increases a clamping force can be adjusted.

<4. Effects according to this embodiment>
As described above, according to the motion assisting apparatus 1 according to the present embodiment, the arm member 33 that is rotatably connected to the first joint portion 30 that is an active joint portion is fixed to the thigh. The thigh mounting member 100 is provided in the middle of the base 37 in the winding direction around the thigh, and connects at least one of the first portion 37a and the second portion 37b of the base 37. A fastening portion 110 including a fastener is provided. Therefore, the fastening force of the base material 37 to the thigh can be increased by fastening the fastener after the base material 37 is wound around the thigh. Thereby, the position shift of the thigh mounting member 100 at the time of a user's operation | movement can be suppressed.

  Further, in the motion assisting apparatus 1 according to the present embodiment, when at least a part of the base material 37 is made of stretchable woven fabric or knitted fabric, or an elastic material, before fastening the fastener of the fastening portion 110. In addition, after the tightening force of the base member 37 is generated, the fastener can be further tightened to increase the tightening force. Therefore, the position of the thigh mounting member 100 provisionally determined before tightening the fastener becomes difficult to shift, and the position shift of the thigh mounting member 100 before and after tightening the fastener can be suppressed. In particular, since at least a part of the base material 37 is made of chloroprene rubber, the mechanical strength and weather resistance can be improved while the base material 37 has heat resistance, cold resistance and oil resistance.

  Moreover, in the movement assistance apparatus 1 which concerns on this embodiment, when the fastening part 110 is provided with the 1st fastener 111 and the 2nd fastener 113 with which the moving direction of the slider at the time of fastening a fastener is reverse. The user or an assistant can select whether to increase the fastening force of the base material on the knee joint side or the thigh root side. Alternatively, the tightening force of the base material can be increased on both the knee joint side and the base side of the thigh. Therefore, the degree of freedom when the thigh mounting member 100 is mounted can be increased.

  Moreover, in the movement assistance apparatus 1 which concerns on this embodiment, when the arm member 33 and the thigh mounting member 100 are connected via the slide mechanism 50, a 1st joint is accompanying with a user's operation | movement. Even if the distance between the portion 30 and the fixing position of the thigh mounting member 100 changes, the shearing force acting on the thigh mounting member 100 is reduced, and the displacement of the thigh mounting member 100 is further suppressed. can do.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

  For example, in the above-described embodiment, the motion assisting device includes the slide mechanism that connects the arm member and the thigh mounting member, and is configured by a connection method having a degree of freedom in the connection position. It is not limited to. The motion assisting device may be configured by a connection method that firmly fixes the arm member and the mounting member without including the linear guide device. Even when the present invention is applied to such a motion assisting device, the tightening force of the thigh mounting member is increased, and the displacement of the thigh mounting member can be suppressed.

  Moreover, in the said embodiment, although the operation assistance apparatus was comprised as an apparatus which assists the user's both legs back-and-forth movement, this invention is not limited to this example. For example, the motion assisting device may be a device that assists the user's one leg back and forth movement. In this case, the first lumbar joint, the second lumbar joint, the knee joint, the lumbar frame, the thigh arm member, the crus arm member, the base material, and the crus attachment part may be left or right. It is provided only on one side.

  DESCRIPTION OF SYMBOLS 1 ... Operation assistance apparatus, 20 ... Actuator, 22 ... Control apparatus, 30 ... 1st joint part (active joint part), 31 ... Lumbar frame, 33 ... Arm member, 37 ... base material, 37a ... first part, 37b ... second part, 50 ... slide mechanism, 100 ... thigh attachment member, 110 ... fastening part, 111 ... first fastener, 111a ... slider, 113 ... second fastener, 113a ... slider

Claims (4)

An active joint portion disposed at a position corresponding to a hip joint on a side of the user, an arm member supported rotatably about the active joint portion, an actuator for generating a rotational torque of the arm member, A mounting member for attaching an arm member to the thigh of the user,
The mounting member is
A base material to which the arm member is connected and wound around the thigh;
Provided in the middle of the winding direction around the thigh in the base material, and connecting at least a first portion on one side of the base material with a second portion on the other side of the base material. A fastening portion including one fastener;
A motion assisting device.   The motion assisting device according to claim 1, wherein a moving direction of the slider of the fastener is a direction intersecting the winding direction around the thigh. The fastening portion includes at least two fasteners,
The motion assisting device according to claim 1 or 2, wherein a moving direction of the slider when fastening the first fastener is opposite to a moving direction of the slider when fastening the second fastener. The motion assist device according to claim 1, further comprising a slide mechanism that slidably connects the arm member and the mounting member along a length direction of the thigh.

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