PROBLEM TO BE SOLVED: To provide a joint mechanism which generates power according to bending as necessary in a structure achieving a high degree of freedom of the bending.SOLUTION: A joint mechanism includes a zigzag structure 13 which continues in a zigzag manner between a first member 11 and a second member 12. A flexible long member 16 fixed to the first member 11 extends from the first member 11 to the second member 12 and may travel relative to the second member 12. A tensile force application device which applies a tensile force to the flexible long member 16 is formed so as to change the tensile force to be applied.COPYRIGHT: (C)2015,JPO&INPIT【課題】屈曲の自由度が高い構造で、必要に応じて該屈曲に応じた動力を発生することができる関節機構を提供する。【解決手段】関節機構は、第1部材11と第2部材12との間にジグザグ状に連なるジグザグ構造体13を備える。第1部材11に固定された可撓性長尺部材16が第1部材11から第2部材12に向かって延在し、第2部材12に対して走行可能となっている。可撓性長尺部材16に張力を付与する張力付与装置は、付与する張力を変更可能に構成されている。【選択図】図2
