| 摘要 |
<p>When air is forced out from bellows (211-213) of a finger joint movement part (110j)(j=1,…, 5) by an adjustment part (180), the air pressure in the bellows falls. When the air pressure falls in this manner, the bellows contract while the angle of intersection expands between the direction faced by one end of the bellows and the direction faced by the other end. As a result, the first to third joints are in a state of joint extension. When air is forcefully supplied to the bellows (211-213) by the adjustment part (180), the air pressure inside the bellows rises. When the air pressure rises in this manner, annular grooves of the bellows, which are equivalent to the bent sides of the joint, are restrained by a restraining member in the bellows, and the bellows therefore expand into a substantially arcuate shape while the angle of intersection narrows between the direction faced by one end of the bellows and the direction faced by the other end. As a result, the first to third joints are in a state of joint bending. Therefore, joint movement can be performed appropriately.</p> |
