| 摘要 |
PROBLEM TO BE SOLVED: To provide an oscillation joint device which automatically adjusts torque generated by an oscillation motion by automatically adjusting the stiffness of a joint which moves so as to be oscillatory, and can further reduce power consumption or a load of a user, a walk assist device, a transport device, and a manipulator.SOLUTION: An oscillation joint device has: a drive shaft member 6; a first output part (13) which oscillates around a drive shaft 6J of the drive shaft member; an elastic body (24) which generates energization torque corresponding to a first oscillation angle of the first output part; apparent stiffness variable means (23, 21) which make the apparent stiffness of the elastic body viewed from the first output part variable; first angle detection means 11S which detects a first oscillation angle; and control means which controls the apparent stiffness variable means according to the first oscillation angle which is detected by the first angle detection means, and adjusts the apparent stiffness of the elastic body viewed from the first output part.SELECTED DRAWING: Figure 1 |
