| 摘要 |
PROBLEM TO BE SOLVED: To allow for a compact structure when bending the waist joint and appropriately assist joint motion of the waist joint.SOLUTION: When a bellows 130 is contracted, a fourth external gear member 254 rotates and revolves about a third external gear member 243, and an internal tooth forming member 241 rotates. When the internal tooth forming member 241 rotates, a second external gear member 222 rotates and a first external gear member 212 rotates inversely to the second external gear member 222. Consequently, an intersection angle of a lateral lumber skeleton member 221 and a lateral femoral skeleton member 211 is narrowed and the waist joint is bent. When the waist joint is bent, a first connecting member 251 connected to the internal tooth forming member 241 and a second connecting member 252 connected to the fourth external gear member 254 rotate in the same direction. Consequently, the bellows 130 is contracted followed after the bending lumbar part. |
