| 摘要 |
PROBLEM TO BE SOLVED: To provide a working force detector in which a driver can be fixed directly to a drive body not through a bearing, or the like. SOLUTION: A reduction gear, i.e., a harmonic drive, is interposed between a drive body 2 and a driven body 1 and a protrusion 4a is provided on the circular spline 4 of the harmonic drive while a member 5 for detecting pressure by touching the protrusion 4a in the axial circumferential direction is provided on the drive body 2 side.
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