| 摘要 |
PROBLEM TO BE SOLVED: To provide a fail-safe lower limb drive unit. SOLUTION: This drive unit comprises two or more force detectors 16 for outputting a force signal according to contact force provided in a sprint. When at least one of the force signals is not in a prescribed voltage range, an alarm signal is outputted. When the alarm signal is received, the power supplied to a servo amplifier 23 is interrupted. |
