Flexible actuator and joint-driving unit using the same

Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element

Reexamination Certificate

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Details

C074S490010, C901S027000, C901S029000

Reexamination Certificate

active

07870808

ABSTRACT:
A displacement member can be displaced in a direction substantially perpendicular to a moving direction of a translation member that is held on a base member so as to reciprocatingly move thereon linearly, and an elastic mechanism secured to the base member accumulates and releases elastic energy in accordance with the distance to the displacement member. Protruding members of the translation member are pressed against a transmission member by generated force provided by the energy release from the elastic mechanism; thus, a distance adjusting operation between coupling mechanisms coupling the transmission member and the displacement member is controlled by a control device so that the relative position and relative angle between the displacement member and the transmission member are changed.

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M. Zinn et al., “A new Actuation Concept for Human-Friendly Robot Design”, IEEE Robotics & Automation Magazine, vol. 11, Issue 2, Jun. 2004, pp. 12-21.
A. Bicchi et al., “Dealing with the Safety-Performance Tradeoff in Robot Arms Design and Control”, IEEE Robotics & Automation Magazine, vol. 11, Issue 2, Jun. 2004, pp. 22-33.

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