Hydraulic drive muscle actuator unit and muscle robot incorporating the same

摘要

PROBLEM TO BE SOLVED: To provide a hydraulic driving actuator, a hydraulic driving muscle actuator unit, and a muscle robot installed with the actuator and the unit which can handle objects with heavy weight.SOLUTION: The hydraulic driving muscle actuator unit comprises: a hydraulic driving actuator having an extendable cylinder and a first elastic body provided so as to surround the circumference of the cylinder; enhancing means which enhances loads applied by the hydraulic driving actuator; supporting means which supports the hydraulic driving actuator and the enhancing means; and a fluid-pressure control portion which supplies controlled liquid pressure into the cylinder.SELECTED DRAWING: Figure 13