ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL
发明人:
Tomoyuki NODA,Jun MORIMOTO
申请号：
US15501646
公开号：
US20170231787A1
申请日:
2015.08.26
申请国别(地区):
US
年份:
2017
代理人:
摘要：
[Object] To provide a hybrid actuator attaining both driving force and responsiveness, capable of reducing inertia of a movable portion.[Solution] A pneumatic air muscle has a cylinder (112) provided in a flexible member (100) forming a pneumatic artificial muscle. At the center of an upper lid element (109) of the cylinder, a through hole is opened, and an inner wire (103) of a Bowden cable passes through this through hole and is coupled by means of a spring (106) to a bottom portion of the cylinder. When the pneumatic artificial muscle contracts, the inner wire (103) and the pneumatic air muscle move together because of the stopper (105), and the contraction force is transmitted. In contrast, when the pneumatic air muscle extends, the stopper (105) is disengaged, while the tension of inner wire (103) is kept by the spring (106) to prevent slacking.
