Motor vehicles – Special driving device – Stepper
Reexamination Certificate
2005-08-17
2010-02-09
Hurley, Kevin (Department: 3611)
Motor vehicles
Special driving device
Stepper
C901S001000
Reexamination Certificate
active
07658246
ABSTRACT:
An assist device11is equipped with a spring means21(gas spring), and a piston24in a cylinder23moves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thigh4and a crus5at a knee joint8of a leg3of a robot. Air chambers25and26above and below the piston24are filled with gases. If a flexing degree at the knee joint8is a predetermined value or less, then the air chambers25and26are brought into communication through a groove28in the cylinder23, and the spring means21does not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambers25and26are hermetically sealed from each other and the spring means21produces an elastic force, the elastic force acting on the knee joint8as assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction. Moreover, a change in the characteristics of an assisting driving force of the spring means21in response to a flexing degree of the knee joint8can be restrained.
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Akimoto Kazushi
Asatani Minami
Gomi Hiroshi
Hamaya Kazushi
Shirokura Shinya
Honda Motor Co. Ltd.
Hurley Kevin
Rankin , Hill & Clark LLP
Showa Corporation
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