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|1. (WO2018088113) JOINT DRIVING ACTUATOR AND MEDICAL SYSTEM|
|Title:||JOINT DRIVING ACTUATOR AND MEDICAL SYSTEM|
[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.