Abstract: An assist device includes a body wearing unit and an actuator unit. The actuator unit includes an output link configured to pivot about a joint of an assist target body part and to be attached to the assist target body part; an actuator including an output shaft configured to generate an assist torque via the output link; a torque determination unit configured to determine a combined torque obtained by combining a user torque and the assist torque from the output shaft, the user torque being input from the output link when the user causes the assist target body part to pivot; a correction unit configured to calculate a correction amount for the determined combined torque; and a pivot angle control unit configured to control a pivot angle of the output shaft based on the determined combined torque and the calculated correction amount.

Abstract: A frequency detector includes an oscillation related information output portion to which moving body position related information and a correction parameter are input, and which outputs a frequency adjustment parameter and estimated moving body position related information; a frequency estimating portion to which the frequency adjustment parameter is input, and which outputs an estimated frequency; and an adjusting portion to which the moving body position related information, the estimated moving body position related information, and the estimated frequency are input, and which outputs the correction parameter.

Abstract: An assist device is connected to a moving body that performs a reciprocating swing motion. The assist device includes a first output portion configured to swing around a swing center as a center of a swing motion; a variable rigidity device including an elastic body configured to accumulate energy and release the energy in accordance with a first swinging angle as a swinging angle of the first output portion, and a rigidity varying unit configured to change an apparent rigidity of the elastic body seen from the first output portion; a first angle detecting portion configured to detect the first swinging angle; and a control device configured to adjust the apparent rigidity of the elastic body seen from the first output portion by controlling the rigidity varying unit in accordance with the first swinging angle detected by the first angle detecting portion.

Abstract: A swinging joint device includes: a driving shaft member; a first swinging arm that is swingably supported about the driving shaft member; a driven shaft member that is arranged parallel to the driving shaft member; an interlocking swinging member that swings about the driven shaft member in an interlocking manner with swinging of the first swinging arm; an elastic body that is connected to the interlocking swinging member to generate an urging force in a direction opposite to an interlocking swinging direction of the interlocking swinging member; a rigidity variable portion that varies rigidity of the elastic body seen from the interlocking swinging member; a first angle detection portion that detects a swinging angle; and a control portion that controls the rigidity variable portion according to the swinging angle detected by the first angle detection portion to adjust the rigidity of the elastic body seen from the interlocking swinging member.