PROBLEM TO BE SOLVED: To provide a joint mechanism which can be freely driven with a simple structure and can detect an external force with a good accuracy.SOLUTION: A joint mechanism includes a first joint part 1, a second joint part 2, a connection part 3, two bellows 4a, 4b, and a liquid supply part 5. The first joint part 1 and the second joint part 2 are so connected to each other by the connection part 3 as to be freely swinging. Both of two bellows 4a, 4b are fixed to the first joint part 1 at one ends thereof and fixed to the second joint part 2 at the other ends thereof, and are provided at positions deviated from each other by an angle of 90° around a central axis of the connection part 3. The liquid supply part 5 performs injection and suction of a liquid with respect to respective bellows 4a, 4b, and has a sensor 6 for measuring internal pressures of the bellows 4a, 4b.COPYRIGHT: (C)2015,JPO&INPIT【課題】 簡易な構造で自在に駆動可能であり、かつ外力を精度よく検知可能な関節機構を提供する。【解決手段】 第一継手部1と、第二継手部2と、連結部3と、二本のベローズ4a,4bと、液体供給部5を備え、第一継手部1と第二継手部2とは、連結部3により首振り自在に連結されており、二本のベローズ4a,4bが、何れも一端が第一継手部1に固定され、他端が第二継手部2に固定されていて、連結部3の中心軸周りに90度ずれた位置に設けられており、液体供給部5が、各ベローズ4a,4bに対して液体を注入および吸引するものであって、ベローズ4a,4bの内圧を測定するセンサ6を有する。【選択図】 図1
