| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a rigidity variable driving device which continuously varies rigidity from low rigidity to high rigidity to be capable of performing a dynamic behavior, and a joint driving mechanism with the same.SOLUTION: A rigidity variable driving device 100 comprises: a rod-like elastic member 2; a drive motor 5; a revolving shaft 4 connected with the drive motor 5; and a transmission member 3 in which a fitting hole 32 fitted into the elastic member 2 is formed, which integrally rotates with the revolving shaft 4 and transmits turning force of the revolving shaft 4 to the elastic member 2. The rigidity variable driving device 100 comprises: an ultrasonic motor 6 which drives the transmission member 3 in an axial direction; and a binding member 13 which contacts with a part of the elastic member 2 to bind the elastic member 2, and integrally moves with the transmission member 3 to shift a contact position with the elastic member 2 in the axial direction. The elastic member 2 has a shape in which sectional secondary polar moment of a cross section orthogonal to the axial direction Y decreases as going away from a tip part 2a in the axial direction Y.</p> |
