Abstract
In this research, the device that supported various operation of the wrist by the installation type was developed based on the spiral fluid actuator that authors had originally proposed up to now. It is expected that the necessity of the installation type actuator into which the load is changed according to user's purpose and ability will rise in the future. It proposes joint drive part Tail-wrist aiming at the operation support of two degree of freedom. The device made for trial purposes can handily detach, and the function to follow to the operation of the target is had both. It was confirmed that Tail-wrist was effective to the wrist exercise support to measure the generation torque.
