公开(公告)号：EP1442846A4

公开(公告)日：2008-03-12

申请号：EP02768006

申请日：2002-09-24

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  HAMAYA KAZUSHI ,  TAKEMURA Y ,  MATSUMOTO T ,  YOSHIIKE T ,  NISHIMURA Y ,  AKIMOTO K

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J19/00 ,  F16F9/06

CPC分类号： F16F9/06 ,  B25J19/0008 ,  B25J19/0091 ,  Y10T74/20305

摘要： An assist device 12 for imparting an auxiliary driving force to a joint 8 in parallel with a driving force from a joint actuator 10 is installed between a femoral portion 4 and a crus portion 5 that are a pair of link members of a leg 3. The assist device 12 produces the auxiliary driving force by a spring means 15 such as a solid spring or air spring. A member 17 for holding a rod member 16 connected to the spring means 15 is provided with a means for transmitting the bending and stretching motion relative displacement motion between the femoral portion 4 and crus portion 5 of the leg 3 in the joint 8 to a spring means 15 to cause the latter to generate elastic force or for cutting off the transmission of bending and stretching motion to the spring means 15. This means is controlled according to the gait of the robot 1. This makes it possible to reduce the load on the joint actuator 10 as the need arises and to stably secure satisfactory energy utilization efficiency.