JOINT DRIVING MODULE AND COMPLIANT TYPE ROBOT ARTIFICIAL ANKLE

摘要

The present invention relates to a joint driving module, which has a reduced size and a reduced weight, generates enough torque at a level needed for driving, and enables rotation force, generated by a motor unit, to be transmitted to a harmonic unit, a torque sensor unit, and an artificial module without loss, and to an adaptation-type robot artificial foot. The joint driving module comprises: a motor unit which rotates an output driving axis by applied electric power; a harmonic unit which is joined to a motor unit and reduces the speed of the output driving axis; and a torque sensor unit which is joined to the harmonic unit and senses torque applied to the output driving axis. The torque sensor unit comprises: a torque housing joined and fixated to the harmonic unit; an output flange which is joined, to be able to be rotated, to the torque housing; a torque sensing unit which is joined to the output flange and senses torque in accordance with rotation of the output flange; and a torque bearing which covers the output flange, while the torque bearing is inserted in the torque housing, and supports the output flange to be able to be rotated with respect to the torque housing.