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Title
Japanese:膝と足首の連動により変速する人型ロボットの下腿機構 
English: 
Author
Japanese: 東田 直樹, 舛屋 賢, 杉原 知道.  
English: Naoki Higashida, Ken Masuya, Tomomichi Sugihara.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会講演概要集 
English: 
Volume, Number, Page        
Published date May 2015 
Publisher
Japanese:一般社団法人日本機械学会 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Abstract An anthropomorphic lower leg mechanism that varies the torque transmission ratio depending on an engaged motion of the knee and the ankle is presented. A couple of cascaded four-bar links encodes the preferred transmission property, which should be high when the leg is in stance phase and low when in swing phase. A prototype showed that the required property can be achieved by a real mechanism.

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