| 摘要 |
PROBLEM TO BE SOLVED: To obtain passive drive characteristic while ensuring high active drive characteristic of a revolute joint itself by taking physical interaction with a man into account. SOLUTION: A revolute joint driving mechanism is constituted by connecting an actuator, a low decelerator, and a driving force transmission mechanism in this order to ensure the passive drive property of a revolute joint by the low decelerator. A link used as the driving force transmission mechanism is provided with nonlinear spring characteristic composed of a passive drive region in which it acts at comparatively low elastic constant during a period when driving force is comparatively low, an active drive region in which it acts at comparatively high elastic constant during a period when driving force is comparatively high, and a machine body protection region in which it acts at extremely low elastic constant when driving force exceeds a predetermined threshold. COPYRIGHT: (C)2003,JPO
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