| 摘要 |
The present invention relates to a device, comprising: a main body (2), an arm assembly (10) comprising: a first arm member (20), a first joint (12), a second arm member (30), a second joint (14), orientation control means for adjusting the orientation of the arm members and/ or joints of the arm assembly relative to the main body, one or more passive actuating means (50, 60, 70) for counterbalancing at least a part of the weight of the arm assembly, wherein an adjustable lever mechanism is arranged between the main body and the arm assembly, drive means (80) configured for adjusting the lever arm, one or more orientation sensors for determining the orientation of the arm members and/or joints of the arm assembly relative to the main body, and lever arm control means for adjusting the lever arm of the adjustable lever mechanism with the drive means. The invention further relates to a method of adjusting a lever arm of such a device. |
