PROBLEM TO BE SOLVED: To provide a swing joint device capable of reducing power consumption or a load on a user by automatically adjusting the rigidity of joints to perform a swing motion, to thereby automatically adjust a torque to be generated by the swing motion.SOLUTION: The swing joint device includes: a first swing arm 13 to swing around a drive shaft member 6 a linkage swing member 16 to swing by linkage around a driven shaft member 7 linked to the swing of the first swing arm an elastic body connected to the linkage swing member and generating a biasing force that corresponds to a linkage swing angle and moves the linkage swing member in the opposite direction of a linkage swing direction rigidity variable means for varying the rigidity of the elastic body viewed from the linkage swing member first angle detection means 11S for detecting a swing angle and control means for controlling the rigidity variable means in response to the swing angle and adjusting the rigidity of the elastic body viewed from the linkage swing member.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2016,JPO&INPIT【課題】揺動運動する関節の剛性を自動的に調整することで揺動運動によって発生するトルクを自動的に調整し、消費電力あるいはユーザの負荷をより低減することができる、揺動関節装置を提供する。【解決手段】駆動軸部材6回りに揺動する第1揺動アーム13と、第1揺動アームの揺動に連動して従動軸部材7回りに連動揺動する連動揺動部材16と、連動揺動部材に接続されて連動揺動角度に応じた付勢力であって連動揺動部材を連動揺動方向とは反対方向となる付勢力を発生させる弾性体と、連動揺動部材から見た弾性体の剛性を可変とする剛性可変手段と、揺動角度を検出する第1角度検出手段11Sと、揺動角度に応じて剛性可変手段を制御して、連動揺動部材から見た弾性体の剛性を調整する制御手段と、を有する。【選択図】図1
