Flexible actuators, robot joints, robots and exoskeleton robots

摘要

The present invention provides a flexible actuator, a robot joint, a robot, and an exoskeleton robot that can be flexibly driven to an execution mechanism by a small structure and highly reliable transmission. A flexible actuator according to the present invention includes a drive mechanism, a transmission mechanism, and an output mechanism. The transmission mechanism includes a main rotation member, a driven rotation member, and a rope that form a rope transmission relationship. The rope is wound around the rotational surfaces of the main rotating member and the driven rotating member, the rotation center axis of the main rotating member is orthogonal to the rotation center axis of the driven rotating member, and the output end of the drive mechanism is the main rotating member. The output mechanism includes a flexible driving member 31 and an output member 32 for connecting to an external execution member, and the driven rotating member is connected to the output member by the flexible driving member. To drive the rotation. [Selection] Figure 1