| 摘要 |
PROBLEM TO BE SOLVED: To provide an actuator device capable of reducing inertia in a movable portion in a hybrid type actuator which achieves both a driving force and responsiveness.SOLUTION: In an air pressure type air muscle, a cylinder 112 is provided inside a flexible member 100 configuring air pressure type artificial muscle. In the center of a lid component 109 at an upper part of the cylinder 112, a through-hole is provided, and an inside wire 103 of a Bowden cable goes through the through-hole and is connected to a bottom part of the cylinder by a spring 106. When the air pressure type air muscle contracts, the inside wire 103 and the air pressure type artificial muscle move integrally by a stopper 105, and a contraction force is transmitted. As opposed to this, when the air pressure type air muscle expands, the stopper 105 comes off, but tension of the inside wire 103 is maintained not to become slack by the spring 106.SELECTED DRAWING: Figure 4 |
