| 摘要 |
PURPOSE: Thigh and knee joints of an artificial leg helper robot is provided to enable yoga exceeding the functions of humans from a viewpoint of flexibility. CONSTITUTION: A lower body robot is constructed in such a manner that air bladder pulleys(5,5') and air bladder paths(6,6') are formed on the outer surface of a robot body so as to acquire an empty space for a passenger. By the air bladder pulley(5,5') and air bladder paths(6,6'), a knee joint capable of driving at 180 deg. is disposed on the robot.
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