| 摘要 |
PROBLEM TO BE SOLVED: To provide an inferior limb driving device which can move an inferior limb smoothly without loading hard load on the inferior limb. SOLUTION: This inferior limb driving device is equipped with a thigh motion mechanism part 110 to apply force to a thigh to rotate the hip joint and a lower leg motion mechanism part 120 to apply force to a lower leg to rotate the knee joint. The thigh motion mechanism part 110 comprises a drive shaft 111 driven by a motor, a motion drive shaft 112 to rotate in the direction reverse of the drive shaft 111, a rotatable free joint 113, a slide mechanism 114, and a thigh mounting part 115. The lower limb motion mechanism part 120 comprises a drive shaft 121 driven by a motor, a drive shaft 122 driven independent of the drive shaft 121, a rotatable free joint 23, a free rotation part 124, and a lower limb mounting part 125. |
