PROBLEM TO BE SOLVED: To provide a rotary torque transmission mechanism and a rotary torque transmission method capable of smoothly and continuously transmitting rotary torque in a simple way with a simple configuration.SOLUTION: A rotary torque transmission mechanism comprises: a driving surface 16 rotatable around a first axial line X1 orthogonal thereto; a driven surface 17 arranged facing the driving surface and rotatable around a second axial line X2 orthogonal thereto; and effective frictional force control means controlling effective frictional force which is a component of sliding frictional force acting on the driven surface or the driving surface in a tangential direction of a rotational direction thereof. The effective frictional force control means is: a rotating body with a rotational axis line thereof arranged in such a manner as to make the same roll on the driving surface or the driven surface; protruded toward the driving surface or the driven surface; and pressed against the driving surface or the driven surface with predetermined pressing force.SELECTED DRAWING: Figure 1
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