| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device for generating a joint torque adapted to allow easily designing torque characteristics including a nonlinear characteristic, while enabling a generated torque for a position of a leg to be adjusted during operation by an operation of a person. <P>SOLUTION: The subject device for generating joint torque has a structure of a passive leg, including a lever and a femoral section 1a which perform a relative rotation through a waist axis 1c, and a torque generating mechanism adapted for generating a joint torque around the waist axis through the combination of a spring 2a and a cam 2c. Furthermore, a joint torque is generated when the spring 2a causes a pressure contact with the cam 2c through a shaft 2b with a roller. In addition, a generated torque can be varied in an absolute angle of the femoral section by operating the lever by a person. <P>COPYRIGHT: (C)2013,JPO&INPIT |
