| 摘要 |
<P>PROBLEM TO BE SOLVED: To widely adjust joint stiffness ranging from low rigidity to high rigidity. <P>SOLUTION: A base end 5a of a link 5 is swingably supported to a base 6. A pair of drive units 21, 21 are symmetrically disposed on both sides of the link 5 and turn the link 5 by a difference of tensile forces acting on the base end 5a of the link 5. Each drive unit 21 has an extendable string-like elastic member 1 and an adjusting mechanism 31. One end 1a of the string-like elastic member 1 is fixed to the base end 5a of the link 5, and a retraction amount of the other end 1b is adjusted by the adjusting mechanism 31, thereby adjusting an effective length between the base end 5a at the string-like elastic member 1 and the adjusting mechanism 31. <P>COPYRIGHT: (C)2013,JPO&INPIT |
