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|1. (WO2018008706) MOTION ASSIST DEVICE|
|Title:||MOTION ASSIST DEVICE|
A hip-joint motion assist unit (2) comprises: a first link (23) that is fixed to a pelvis; a second link (24) that is fixed to a thigh bone (16); a rotary actuator (21) that has a rotary output shaft (22) that is fixed to the second link (24); and a coupling mechanism (25) that couples the rotary actuator (21) and the first link (23). The first link (23) and the second link (24) are capable of swinging relative to one another around the joint center (12a) of a hip joint (12). Assist force for bending/stretching activity acts around a center axis that passes through the joint center, and, during adduction/abduction and intorsion/extorsion, the first and second links (23, 24) swing around the joint center in accordance with the assist force. The present invention can transmit assist force without restricting the natural movement of a hip joint of a human body.