Abstract
We propose the Pseudo Mechanism scheme. Force feedback control enables back-drive of a worm gear, which naturally cannot be back-driven because of it mechanical stop feature. If the feedback control is switched on or off according to the conditions, its mechanical feature can be shifted from pseudo back-drivable characteristics to natural non-back-drivable characteristics. For example, if the force feedback control is applied only when the force is positive, this system allows the positive rotation and negative rotation is prohibited as a one-way clutch. The compensation method of friction loss of a worm gear is also tested.
