WEARABLE ASSIST ROBOT APPARATUS

There is provided a wearable assist robot apparatus configured to assist a walking action or the like with a least drive source, allow a body trunk to bent obliquely to the left and right, and detect landing of a foot without a floor reaction force switch for a foot. Upper arms (70) are fixed to drive shafts (62) of a pair of drive sources (60) at or near respective left and right hip joints. The upper arms (70) are coupled to an upper body trunk harness (20) by first passive rotary shafts (91) via third passive rotary shafts (73), and are mounted to a lower body trunk harness 30 by mounting means (94). Lower arms (80) are fixed to drive source bodies (63), and are coupled to thigh harnesses (40) by second passive rotary shafts (92) via fourth passive rotary shafts (83). The first and second passive rotary shafts (91, 92) and third and fourth passive rotary shafts (73, 83) are angularly displaceable about axial lines in a lateral direction of the wearer and axial lines in an anteroposterior direction of the wearer, respectively. An acceleration/angular speed sensor (103) fixed to the lower body trunk harness (30) detects an acceleration α1 of the body trunk (11) in a vertical direction by landing of a foot.