人力ロボティクスの研究

（第10報，CVTとパワーアシストを用いた人力関節駆動機構の操作負荷低減）

抄録

In this paper, clanking effort reduction method for the single-DOF human-powered joint mechanism having regenerative servo clutches, by the power assist using regenerative energy and continuously variable transmission is proposed. Through the experiments, it was confirmed that the assist motor compensated external torque immediately and CVT reduced the clanking torque and power of assist motor, when an external force applied on the output shaft and its torque suddenly changed.