| abstract |
[Object] To provide a hybrid actuator attaining both driving force and responsiveness, capable of reducing inertia of a movable portion. n [Solution] A pneumatic air muscle has a cylinder ( 112 ) provided in a flexible member ( 100 ) forming a pneumatic artificial muscle. At the center of an upper lid element ( 109 ) of the cylinder, a through hole is opened, and an inner wire ( 103 ) of a Bowden cable passes through this through hole and is coupled by means of a spring ( 106 ) to a bottom portion of the cylinder. When the pneumatic artificial muscle contracts, the inner wire ( 103 ) and the pneumatic air muscle move together because of the stopper ( 105 ), and the contraction force is transmitted. In contrast, when the pneumatic air muscle extends, the stopper ( 105 ) is disengaged, while the tension of inner wire ( 103 ) is kept by the spring ( 106 ) to prevent slacking. |