| 摘要 |
<P>PROBLEM TO BE SOLVED: To dynamically adjust variation transient characteristics so as to be suited for walking assist in a double joint. <P>SOLUTION: For a gear 54, a through-hole 76 having a counterbore part 75 is formed at the center thereof. On the inner peripheral side of the counterbore part 75, eccentric actuators 73a-73d to be extended and contracted are installed in a cross shape. The eccentric actuators 73b and 73d are arranged facing each other on both sides of a fixed shaft 55, and ends hold both sides of the fixed shaft 55. The eccentric actuators 73a and 73c are arranged facing each other on both sides of the fixed shaft 55 in a direction vertical to the axis of the eccentric actuators 73b and 73d, and ends hold both sides of the fixed shaft 55. The eccentric actuators 73a-73d are driven and the rotary shaft of the gear 54 is made eccentric from a center point 80 to an arbitrary point inside the through-hole 76. <P>COPYRIGHT: (C)2013,JPO&INPIT |
