| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg joint assisting device, lessening the load of a joint actuator of the leg while reducing the energy consumption of a robot in small-sized and simple constitution. SOLUTION: This assisting device 11 includes a spring means 21 (a gas spring), and a piston 24 in a cylinder 23 is moved up and down according to the relative displacement motion (bending and stretching movement) of a thigh 4 and a lower limb 5 in a knee joint 8 of the leg 3 of the robot. The upper and lower gas chambers 25, 26 of the piston 24 are filled with gas. When the bending degree at the knee joint 8 is below a predetermined value, the gas chambers 25, 26 are communicated with each other through a groove 28 in the cylinder 23, so that the spring means 21 will not generate elastic force, and when the bending degree exceeds a predetermined value, the gas chambers 25, 26 are sealed with each other, so that the spring means 21 generates elastic force, and the elastic force is applied as auxiliary driving force to the knee joint 8. COPYRIGHT: (C)2006,JPO&NCIPI |
