| 摘要 |
A pair of connected joints (23, 43) in a master-slave robotic system (10, 12) each operated by a plurality of force imparting means (34, 32, 28, 40, 35, 33, 29, 41; 56, 60, 57, 64; 58, 61, 59, 65) each operated by a plurality of force imparting means. Such force imparting means for the second joint (56, 60, 57, 64; 58, 61, 59, 65) imparts force thereto at an acute angle. A third joint (70, 71) is used with a flexible drive tape partly internal thereto. |
