| 摘要 |
<P>PROBLEM TO BE SOLVED: To adjust variation transient characteristics per unit operation amount of an actuator in a double joint. <P>SOLUTION: On a gear surface of a gear 54, a rack gear 67 is circularly formed, and a worm gear 72 fixed to a connection arm 61 is engaged. The worm gear 72 is attached to a rotary shaft of a connection arm actuator 71 fixed to the connection arm 61. When the connection arm actuator 71 is driven and the worm gear 72 is rotated, the attachment angle of the connection arm 61 to the gear 54 is changed. By adjusting the attachment angle of the connection arm 61 in such a manner, the variation transient characteristics of a joint operation amount and joint operation torque per unit operation amount of a knee joint assist actuator 18 can be adjusted. Also, the gear 54 and the rack gear 67 are turned to zero clearance to suppress the backlash of the connection arm 61. <P>COPYRIGHT: (C)2013,JPO&INPIT |
