A driving force computing device for computing a driving force with which the load on a muscle is a desired one when a muscle force assisting device assists the user to make a predetermined movement and/or hinders the user from making it. A driving force computing section (15) of the driving force computing device (1) computes the driving force of each driving part according to a joint torque table (32) containing data on a joint torque needed for a rotating movement and a preset muscle force table (34) containing data on a preset muscle force inputted through a muscle force input section (14). To compute the driving force of each driving part, a muscle /artificial muscle integral model data (25) integrally including skeletal muscle model data (24) on a skeleton muscle model of a human and an artificial muscle model data (23) on an artificial muscle model of the muscle force assisting device is used. A driving force is computed by optimizing it by using the Crowninshield evaluation function under restriction conditions of the joint torque and the preset muscle force.
DRIVING FORCE COMPUTING DEVICE, DRIVING FORCE COMPUTING METHOD, MUSCLE FORCE ASSISTING DEVICE, PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM