Gait motion assisting apparatus

A gait motion assisting apparatus attachable to a knee-ankle-foot orthosis including a thigh attachment to which a user's thigh is attached, a thigh frame supporting the thigh attachment and extending in a substantially vertical direction, a lower leg attachment to which the user's lower leg is attached and a lower leg frame supporting the lower leg attachment and extending in a substantially vertical direction, the lower leg frame being rotatable relative to the thigh frame around a brace-side pivot axis line that is coaxial with a swing axis line of the user's knee joint, the gait motion assisting apparatus comprising,

• an electric motor,
• a casing housing the electric motor,
• a driving arm driven and rotated around an actuator-side pivot axis line by rotational power operatively transmitted via a transmission mechanism from an output shaft of the electric motor,
• an upper connecting mechanism connecting an upper part of the casing to the thigh frame,
• a lower connecting mechanism operatively connecting a distal end portion of the driving arm to the lower leg frame, and
• an intermediate connecting mechanism having the actuator-side pivot axis line arranged coaxially with the brace-side pivot axis line,
• wherein the intermediate connecting mechanism includes a ball stud arranged at the knee-ankle-foot orthosis so as to extend outward in the user width direction on the brace-side pivot axis line X, and an accommodation depression arranged so as to open toward the knee-ankle-foot orthosis on the actuator-side pivot axis line, the ball stud capable of being inserted into the accommodation depression, and
• wherein the accommodation depression is arranged at an innermost power-transmitting member among components forming the transmission mechanism and the driving arm that is arranged coaxially with the actuator-side pivot axis line and is accessible from the inner side in the user width direction.