| 摘要 |
<P>PROBLEM TO BE SOLVED: To achieve variation transient characteristics suitable for walking assist in a double joint. <P>SOLUTION: The rotary shafts of a gear 54 and a gear 56 are pivoted eccentrically by the same offset amount. Thus, when the gear 54 is driven, the gear ratio of the gear 54 and the gear 56 is continuously changed with no step. Thus, the torque and joint operation speed per unit actuator operation amount are continuously changed as well. Using that, by setting various kinds of the eccentric offset amount of the gear 54 and gear 56, the initial angle of a connection arm 61, and the position of a connection shaft 62 (a distance from a rotation center to the connection shaft 62), a double joint part 50 is provided with various characteristics. Thus, the characteristics of the double joint part 50 are optimized at a low cost according to the kinetic characteristics of a leg part. <P>COPYRIGHT: (C)2013,JPO&INPIT |
