Abstract: A device for assisting a wearer in rotationally moving an ankle joint. A drive mechanism coaxially rotates with the ankle joint using a drive motor; a control device controls the drive motor. A storage stores a basic movement pattern and a corrected movement pattern that represent time-series changes in ankle joint angle in a gait cycled. A calculator obtains the corrected movement pattern by correcting the basic movement pattern based on input operation. The basic movement pattern is represented by a polygonal line or a Bézier curve, each of which includes a plurality of predetermined points serving as inflection points, or a combination of thereof. The calculator generates the corrected movement pattern corrected by adjusting positions of the plurality of predetermined points on the basic movement pattern, and, based on the corrected movement pattern, the control device controls driving provided by the drive motor.

Abstract: The gravity control apparatus (1) comprises: a first rotating body (10) that rotates along a first shaft (11a) as a result of being driven by a first driving device; a second rotating body (20) that rotates along a second shaft that is orthogonal to the first shaft (11a) within the region of rotation of the first rotating body (10) as a result of being driven by a second driving device; an accelerometer (40) that is set at any position on the second rotating body (20) and detects acceleration; and a control device (50) that controls driving by the first driving device and the second driving device. The control device (50) controls driving by the first driving device and the second driving device on the basis of acceleration data detected by the accelerometer (40).