| 摘要 |
a base frame (8); the second frame (9) moving in x-direction on the base frame (8); the third frame (10) mounted on the third motor (11) and the third ball screw (12) for moving in y-direction on the frame (9); a ball screw nut (14) connected to the screw (12), a link member (15) connected to the screw nut (14), a bearing means (16) mounted to the linke (15); the first pulley (18) fixed at the center of a carpal joint (17), a motor means (20) for generating rotating power, the second pulley (21) rotated by motor (20), a belt member (22) transmatting rotating power from the first pulley (18) to the carpal joint (17).
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