Patent ID: 9209740
Filing Date: 2015-12-08
Classification: B25J,G05B,G05D,H02P

Abstract:
1. An actuating apparatus comprising: a rotary actuator; a coupling mechanism connected to an output side of the rotary actuator; a first member connected to an output side of the coupling mechanism; a second member connected to an angularly movable member incorporated in a joint; an elastic member for transmitting rotational power from the first member to the second member; a displacement detecting unit for detecting respective displacements of the first member and the second member; a slip amount calculator for calculating a slip amount of the second member with respect to the elastic member; and a rotation controller for controlling an output torque from the rotary actuator based on the slip amount, wherein the slip amount calculator calculates the slip amount based on a change in a rate of displacement of the first member, a difference between the respective displacements of the first member and the second member, and the output torque from the rotary actuator.