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1. (WO2018088113) JOINT DRIVING ACTUATOR AND MEDICAL SYSTEM

Pub. No.:    WO/2018/088113    International Application No.:    PCT/JP2017/037110
Publication Date: Fri May 18 01:59:59 CEST 2018 International Filing Date: Sat Oct 14 01:59:59 CEST 2017
IPC: B25J 19/00
A61B 1/00
A61B 90/25
Applicants: SONY CORPORATION
ソニー株式会社
Inventors: KOKUBO, Wataru
小久保 亘
FUKUSHIMA, Tetsuharu
福島 哲治
TSUBOI, Toshimitsu
坪井 利充
Title: JOINT DRIVING ACTUATOR AND MEDICAL SYSTEM
Abstract:
[Problem] To form a simpler joint driving actuator equipped with a braking function. [Solution] The joint driving actuator according to the present disclosure is provided with: an ultrasonic motor that generates a driving force for driving a joint; a torque sensor that detects an external force being applied to the joint; and an encoder that detects the rotation angle of the ultrasonic motor. By this configuration, a simpler joint driving actuator equipped with a braking function can be formed.