抄録
In the near future, it is expected that people using wearable power assist device will increase. As a result, appearance of the product of various variations will be expected. These products need to ensure sufficient safety. In this study, we consider a mechanism that can ensure safety in hardware. The mechanism can be transferred joint stiffness of robot mechanically. So far, we developed the joint stiffness adjustment mechanism using a non-linear spring SAT. In this study, fundamentally review the joint stiffness adjustment mechanism using a SAT. We propose a flexible joint mechanism joint stiffness is transferred to the three modes. The single joint experimental apparatus using the three modes SAT for rotating joints are actually designed and manufactured. It was verified the operation principle by actual experiment. From actual experiments, the characteristics of the three modes SAT is confirmed to be transferred to three stages in accordance with the rotation angle of the rotating joint. Eventually, this study aims to develop wearable power assist device with low output and using a spring element for the purpose of compensation of physical ability of people.
