| 摘要 |
PROBLEM TO BE SOLVED: To reduce an operation load, which is mainly a weight of an operation part in a human type robot, by a matching elastic body device using a tension spring and the like, so as to reduce required power. SOLUTION: A ratio of the operation load of the robot to elastic force of the elastic body device acting to reduce the operation load is made not to be varied over a fixed range between required operation distances.
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