| 摘要 |
<p>An assist device (12) for imparting an auxiliary driving force to a joint (8) in parallel with a driving force from a joint actuator (10) is installed between a femoral portion (4) and a crus portion (5) that are a pair of link members of a leg (3). The assist device (12) produces the auxiliary driving force by a spring means (15) such as a solid spring or air spring. A member (17) for holding a rod member (16) connected to the spring means (15) is provided with a means for transmitting the bending and stretching motion (relative displacement motion between the femoral portion (4) and crus portion (5)) of the leg (3) in the joint (8) to a spring means (15) to cause the latter to generate elastic force or for cutting off the transmission of bending and stretching motion to the spring means (15). This means is controlled according to the gait of the robot (1). This makes it possible to reduce the load on the joint actuator (10) as the need arises and to stably secure satisfactory energy utilization efficiency.</p> |
