Leg joint assist device for legged movable robot

Details Leg joint assist device for legged movable robot Leg joint assist device for legged movable robot

2006-12-05

2006-12-05

Morris, Lesley D. (Department: 3611)

Motor vehicles

Special driving device

Stepper

C180S008500, C180S008100, C180S008200, C180S008300

Reexamination Certificate

active

07143850

ABSTRACT:
An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle θ increases until the knee bending angle θ reaches a predetermined angle, and so that, once the knee bending angle θ exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.

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