| 摘要 |
PROBLEM TO BE SOLVED: To provide a swing joint device capable of reducing power consumption or a load on a user by automatically adjusting the rigidity of joints to perform a swing motion, to thereby automatically adjust a torque to be generated by the swing motion.SOLUTION: The swing joint device includes: a first swing arm 13 to swing around a drive shaft member 6; a linkage swing member 16 to swing by linkage around a driven shaft member 7 linked to the swing of the first swing arm; an elastic body connected to the linkage swing member and generating a biasing force that corresponds to a linkage swing angle and moves the linkage swing member in the opposite direction of a linkage swing direction; rigidity variable means for varying the rigidity of the elastic body viewed from the linkage swing member; first angle detection means 11S for detecting a swing angle; and control means for controlling the rigidity variable means in response to the swing angle and adjusting the rigidity of the elastic body viewed from the linkage swing member.SELECTED DRAWING: Figure 1 |
