Drive mechanism and robot

Abstract

Provided is a drive mechanism which can be deformed according to the shape of an object in contact. This drive mechanism comprises: a changeable member in which one or more first portions and one or more second portions that are more flexible than the first portions are arranged alternately in a direction of arrangement; a first support member that supports the changeable member; and a drive unit that drives the changeable member.

Description

Drive mechanism and robot

[0001] The present disclosure relates to a drive mechanism and a robot.

[0002] For example, Patent Document 1 discloses a flexible body drive mechanism that includes a tube made of a flexible material and a thread-like member, in order to bend a specific region of a flexible body made of an elastic material or the like.

[0003] Japanese Patent Application Laid-Open No. 2017-42201

[0004] The present disclosure aims to provide a drive mechanism that can deform to conform to the shape of an object that it comes into contact with.

[0005] A drive mechanism according to one aspect of the present disclosure includes a variable member in which one or more first portions and one or more second portions that are more flexible than the first portions are arranged alternately in a parallel direction, a first support member that supports the variable member, and a drive unit that drives the variable member.

[0006] According to the present disclosure, it is possible to provide a drive mechanism that can deform to conform to the shape of an object that comes into contact with it.

[0007] 1 is a schematic top view showing the overall configuration of a drive mechanism according to a first embodiment; a schematic side view showing the overall configuration of a drive mechanism according to the first embodiment; a schematic side view showing a state in which a variable member provided in the drive mechanism according to the first embodiment is driven; a schematic top view of a variable member showing another example of a variable member provided in the drive mechanism according to the first embodiment; a schematic side view showing the configuration of a drive mechanism according to a second embodiment; a schematic side view showing a state in which a variable member provided in the drive mechanism according to the second embodiment is driven; a schematic side view showing the configuration of a drive mechanism according to a third embodiment; a schematic side view showing a state in which a variable member provided in the drive mechanism according to the third embodiment is driven; a schematic side view showing the configuration of a variable member, a first support member, and a second support member provided in a drive mechanism according to a first example; a schematic side view showing the configuration of a variable member, a first support member, and a second support member provided in a drive mechanism according to a second example; a schematic side view showing the configuration of a variable member, a first support member, and a second support member provided in a drive mechanism according to a third example. 14 is a schematic side view showing the configuration of a variable member, a first support member, and a second support member provided in a drive mechanism according to a fourth example. FIG. 15 is a schematic front view showing a robot according to a fourth embodiment. FIG. 16 is a schematic side view showing a robot according to the fourth embodiment. FIG. 17 is a schematic cross-sectional view taken along line XV-XV in FIG. 14.

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, essentially the same components are given the same reference numerals, and duplicated explanations will be omitted as appropriate.

[0009] The embodiments described below exemplify drive mechanisms and robots for embodying the technical ideas of the present disclosure, and are not intended to limit the present disclosure to the embodiments described below. The dimensions, materials, shapes, relative positions, and other details of the components described below are intended for illustrative purposes only, and are not intended to limit the scope of the present disclosure unless otherwise specified. Furthermore, the sizes and positional relationships of components shown in the drawings may be exaggerated for clarity.

[0010] For ease of explanation, the arrangement and configuration of each part may be described using an XYZ Cartesian coordinate system. The three axes in the XYZ Cartesian coordinate system are mutually orthogonal. In the XYZ Cartesian coordinate system, the direction in which the X axis extends is referred to as the "parallel direction X," the direction in which the Y axis extends is referred to as the "Y direction," and the direction in which the Z axis extends is referred to as the "Z direction." The direction in which the arrow indicating the X axis points is referred to as the +X direction, and the direction opposite to the +X direction is referred to as the -X direction. The direction in which the arrow indicating the Y axis points is referred to as the +Y direction, and the direction opposite to the +Y direction is referred to as the -Y direction. The direction in which the arrow indicating the Z axis points is referred to as the +Z direction, and the direction opposite to the +Z direction is referred to as the -Z direction. In this specification, the +Z direction is referred to as "up" and the -Z direction is referred to as "down." Viewing an object from the +Z direction is referred to as a top view. A view of an object viewed from the +Z direction is referred to as a top view. However, these directional expressions merely describe the relationship of relative position, orientation, direction, etc., and do not necessarily correspond to the relationship during use. Furthermore, these directions are unrelated to the direction of gravity. Furthermore, "to place" is not limited to direct contact, but also includes indirect placement, for example, via another member.

[0011] [First Embodiment] <Configuration of Drive Mechanism According to First Embodiment> The configuration of the drive mechanism according to the first embodiment will be described with reference to Figures 1 to 4. Figure 1 is a schematic top view showing an example of the overall configuration of a drive mechanism 200 according to the first embodiment. Figure 2 is a schematic side view showing an example of the overall configuration of the drive mechanism 200. Figure 3 is a schematic side view showing an example of how a variable member 201 provided in the drive mechanism 200 is driven. Figure 4 is a schematic top view of a variable member 201 showing another example of the variable member 201 provided in the drive mechanism 200.

[0012] The drive mechanism 200 is flexible and can deform to conform to the shape of an object it comes into contact with. The drive mechanism 200 is used in a robot arm or the like, and can grasp or embrace the object by deforming to conform to the shape of the object it comes into contact with. For example, when the drive mechanism 200 is used in a robot that provides comfort to a user, such as a stuffed toy robot, the object is the user who is hugged by the robot to provide comfort. When the drive mechanism 200 is used in an industrial robot, the object is an industrial part that the robot grasps. When the drive mechanism 200 is used in a service robot that assists humans in performing actions or tasks, the object is various objects that the robot grasps.

[0013] The drive mechanism 200 according to this embodiment includes a variable member 201 having first portions 211 and second portions 212, each having higher flexibility than the first portions 211, arranged alternately in a parallel direction X, a first support member 202 supporting the variable member 201, and a drive unit 203 driving the variable member 201. In the example shown in FIGS. 1 and 2 , the first support member 202 includes a plurality of connecting members 221 for connecting the variable member 201 and the first support member 202. The drive unit 203 includes a rotation shaft 231 and a rotation member 232 connected to the rotation shaft 231. The rotation member 232 rotates back and forth in the rotation direction 230 in response to the reciprocal rotation of the rotation shaft 231 in the rotation direction 230. As a result, the rotation member 232 pushes and pulls one end 210 a of the variable member 201 on the drive unit 203 side. The driving unit 203 can drive the variable member 201 by pushing or pulling one end 210a of the variable member 201 with the rotating member 232. In this specification, the portion in which the first portions 211 and the second portions 212 are alternately arranged in the parallel direction X is called the variable member 201, but the driving mechanism 200 may have a section in which the same members as the first portions 211 are continuously arranged, or may have a section in which the same members as the second portions 212 are continuously arranged.

[0014] As an example of a drive mechanism including a flexible member, Patent Document 1 discloses a flexible body drive mechanism that includes a tube made of a flexible material and a thread-like member to bend a specific region of a flexible body made of an elastic material or the like. However, in the drive mechanism described in Patent Document 1, if the tube is soft, the tube may lack rigidity, causing the shape of the tube to become unstable, and the tube may not deform to conform to the shape of the object when it comes into contact with the object. Furthermore, if the tube is too hard, the tube may lack flexibility, causing the tube to not deform to conform to the shape of the object when it comes into contact with the object. If the tube does not deform to conform to the shape of the object, the drive mechanism may not be able to properly grasp or embrace the object.

[0015] The driving mechanism 200 according to this embodiment has a variable member 201 in which first portions 211 and second portions 212, which are more flexible than the first portions 211, are alternately arranged in the parallel direction X. The variable member 201 has high rigidity due to the inclusion of the less flexible first portions 211, and therefore is likely to maintain a stable shape. Furthermore, the variable member 201 has high flexibility due to the inclusion of the more flexible second portions 212, and therefore is likely to deform. This allows the driving mechanism 200 to stably and effectively deform the variable member 201 to conform to the shape of the contacting object when the variable member 201 is brought into contact with the object. As described above, this embodiment can provide a driving mechanism 200 that can deform to conform to the shape of the contacting object.

[0016] The hardness of the first portion 211 and the second portion 212 is not particularly limited, but it is preferable that the hardness be such that the user does not feel uncomfortable when they come into contact with the drive mechanism 200. For example, the first portion 211 has a hardness of ASKER C90 or less, and the second portion 212 has a hardness of ASKER C70 or less, thereby providing flexibility. From the viewpoint of flexibility, it is more preferable that the first portion 211 has a hardness of ASKER C70 or less, and the second portion 212 has a hardness of ASKER C60 or less. The lower limit of the hardness of the second portion 212 is preferably F0 or more, and that of the first portion 211 is preferably C2 or more.

[0017] Furthermore, the drive mechanism 200 has fewer shape restrictions, resulting in a high degree of design freedom. This reduces the shape restrictions on a robot or the like that incorporates the drive mechanism 200, thereby increasing the degree of design freedom. Compared to a link mechanism or the like, the drive mechanism 200 can smoothly deform the variable member 201 in accordance with the shape of an object, thereby increasing the degree of deformation freedom.

[0018] The first support member 202 extends in the parallel direction X and supports the variable member 201. In the example shown in Fig. 3 , the drive unit 203 applies a force F to one end 210a of the variable member 201 in the parallel direction X so as to change the position of the variable member 201 in the parallel direction X. As a result, the drive unit 203 displaces the other end 210b of the variable member 201 in the Z direction intersecting with the parallel direction X.

[0019] Specifically, the driving unit 203 applies force F by using the rotating member 232 to push the surface of one end 210a of the variable member 201 in the −X direction, as indicated by the arrow representing force F. The application of force F changes the position of at least a portion of the variable member 201 in the parallel direction X. In the example shown in FIG. 3 , the portion of the variable member 201 on the +Z side where the first support member 202 is located is fixed by the first support member 202 and therefore does not move easily. On the other hand, the portion of the variable member 201 on the −Z side opposite the side where the first support member 202 is located is more mobile and moves in the −X direction. Due to the difference in movement between the +Z side portion and the −Z side portion of the variable member 201, the variable member 201 deforms such that the other end 210b of the variable member 201 moves toward the +Z side. In the deformation of the variable member 201, the deformation of the second portion 212, which is particularly susceptible to deformation, is dominant.

[0020] 3, in a side view, the outer edge shape of each of the plurality of first portions 211 remains substantially rectangular and is not deformed, whereas the outer edge shape of each of the plurality of second portions 212 is deformed to become substantially triangular. When the variable member 201 is deformed, the first support member 202 can expand and contract to support the variable member 201.

[0021] For example, when the driver 203 drives the variable member 201 to contact an object, bending of the portion of the variable member 201 that contacts the object is inhibited, resulting in a behavior that conforms to the shape of the object. The variable member 201 spontaneously deforms, starting from the portion of the variable member 201 that contacts the object, so that other portions that are not in contact sequentially contact the object. The drive mechanism 200, by driving using a single driver 203, sequentially brings portions of the variable member 201 into contact with the object, deforming the variable member 201 to conform to the shape of the object. Because the manner in which the portions of the variable member 201 contact the object differs depending on the shape of the object, and the manner in which the variable member 201 deforms differs depending on the manner of contact, the variable member 201 has a high degree of freedom of deformation. In this way, this embodiment can provide a so-called under-driven drive mechanism 200, which has a small number of drivers relative to the degree of freedom of operation. Furthermore, in this embodiment, by making the drive mechanism 200 an under-driven drive mechanism, it is possible to reduce the cost, weight, and size of the drive mechanism 200, and to lower the failure rate.

[0022] 1 to 3 , the rotating member 232 of the driving unit 203 pushes and pulls one end 210a of the variable member 201 to drive the variable member 201, but this is not limiting. For example, the rotating member 232 of the driving unit 203 is connected to one end of the first supporting member 202, and the rotating member 232 pulls one end of the first supporting member 202 in the +X direction due to rotation of the rotation shaft 231. This may deform the variable member 201 so that the other end 210b of the variable member 201 moves toward the +Z side. Alternatively, the driving unit 203 may deform the variable member 201 by pushing one end 210a of the variable member 201 with the rotating member 232 and pulling one end of the first supporting member 202 with the rotating member 232. In addition, there is an advantage that it is easier to design when deforming the variable member 201 by pressing one end 210a of the variable member 201 than when deforming the variable member 201 by pulling one end of the first support member 202.

[0023] As long as the position of at least one of the variable member 201 and the first support member 202 in the parallel direction X can be changed, the drive unit 203 does not necessarily have to be connected to one end of the variable member 201 or the first support member 202. For example, the drive unit 203 may simply come into contact with and push one end of the variable member 201 or the first support member 202.

[0024] The driving unit 203 is not limited to applying a force to "one end" of the variable member 201 or the first support member 202, but may apply a force to "one end side" of the variable member 201 or the first support member 202, for example, near the "one end". Furthermore, the driving unit 203 is not limited to applying a force to "the other end side" of the variable member 201, but may displace, for example, the vicinity of the "other end", of the variable member 201 in a direction intersecting the parallel direction X. Furthermore, the driving unit 203 is not limited to a configuration including the rotation shaft 231 and the rotation member 232, but may use various mechanisms that can apply a force so as to change the position of the other end 210b of the variable member 201 in the parallel direction X.

[0025] Each component of the drive mechanism 200 will be described in detail below.

[0026] (Variable member 201) The first portion 211 can be made of a material containing a resin material or a metal material. The second portion 212 can be made of a material such as sponge that is more flexible than the material that makes up the first portion 211. However, the second portion 212 may also be made of a spring member made of a metal material or a resin material. The first portion 211 and the second portion 212 may be joined together with an adhesive or the like, or may be supported by the first support member in an unjoined state.

[0027] The second portion 212 is preferably made of an elastic material. Since the second portion 212 is made of an elastic material, the variable member 201 can quickly return to its original shape when the variable member 201 is released from contact with the object. The variable member 201 quickly returns to its original shape, making it easier to perform the next operation, such as bringing the drive mechanism 200 into contact with the object again, and thus improving the ease of handling of the drive mechanism 200.

[0028] The hardness of the first portion 211 is preferably in the range of Asker hardness C2 to C90, inclusive, so that flexibility of the first portion 211 can be ensured.

[0029] The hardness of the second portion 212 is preferably equal to or greater than F0 and equal to or less than C70 on the Asker hardness scale, and is lower than the hardness of the first portion 211. This ensures the flexibility of the second portion 212 and makes the flexibility of the second portion 212 higher than the flexibility of the first portion 211.

[0030] The variable member 201 shown in Fig. 1 has a substantially rectangular outer edge shape in top view. The first portion 211 and the second portion 212 also have a substantially rectangular outer edge shape in top view. However, the shape of the variable member 201 in top view is not limited to a substantially rectangular shape, and may be a shape other than a substantially rectangular shape, such as a substantially elliptical shape as shown in Fig. 4. The shape of the outer edge of the first portion 211 and the second portion 212 in top view can be changed as appropriate to match the shape of the variable member 201 in top view, such as a shape that forms part of an ellipse.

[0031] When the variable member 201 includes a plurality of first portions 211, the plurality of first portions 211 do not necessarily have to have the same flexibility or hardness, and at least one of the first portions 211 may have a different flexibility or hardness. At least one of the plurality of first portions 211 may be made of a different material depending on the flexibility or hardness. In the plurality of first portions 211, the hardness may gradually decrease or the flexibility may gradually increase from one end 210 a of the variable member 201 to the other end 210 b of the variable member 201. By gradually decreasing the hardness or gradually increasing the flexibility from one end 210 a of the variable member 201 to the other end 210 b of the variable member 201, a person can feel an even greater softness when they come into contact with the other end 210 b of the drive mechanism 200.

[0032] When the variable member 201 includes a plurality of second portions 212, similar to the first portion 211, the plurality of second portions 212 do not necessarily have the same flexibility or hardness, and at least one of the second portions 212 may have flexibility or hardness. At least one of the plurality of second portions 212 may be made of a different material depending on the flexibility or hardness. The plurality of second portions 212 may have gradually lower hardness or gradually higher flexibility from one end 210 a of the variable member 201 to the other end 210 b of the variable member 201. By gradually lowering the hardness or gradually increasing the flexibility from one end 210 a of the variable member 201 to the other end 210 b of the variable member 201, a person can feel an even greater sense of softness when coming into contact with the other end 210 b of the drive mechanism 200.

[0033] In addition, if the multiple first portions 211 have different flexibilities and the multiple second portions 212 have different flexibilities, the lowest flexibility of the multiple second portions 212 should be higher than the highest flexibility of the multiple first portions 211.

[0034] (First support member 202) The first support member 202 can be made of a resin material, a rubber material, a cloth material, or the like. Silicone resin, for example, can be used as the resin material. It is preferable that the first support member 202 is made stretchable so that it can expand and contract in accordance with the deformation of the variable member 201. In the example shown in FIG. 1 , the first support member 202 is a thin string-like member. However, this is not limited to this, and the first support member 202 may be a band-like member having a width in the Y direction when viewed from above. If the first support member 202 is made into a band-like member, it is preferable that the width of the first support member 202 in the Y direction is narrower than the width of the variable member 201.

[0035] Cable ties or the like can be used for the multiple connecting members 221. However, this is not limitative. Furthermore, the first support member 202 does not necessarily have to have the connecting members 221, and can be joined to the variable member 201 with an adhesive member or the like to support the variable member 201.

[0036] The first support member 202 does not necessarily have to be disposed on the surface of the variable member 201 , but may be disposed embedded inside the variable member 201 .

[0037] (Driver 203) A motor mechanism using a stepping motor, a servo motor, or the like can be used for the driver 203. However, there is no limitation on the type of driver 203 as long as it can drive the variable member 201. For example, a piston crank mechanism or the like may be used for the driver 203. Furthermore, there is no limitation on the configuration for connecting the driver 203 and the variable member 201, and there is no limitation on the configuration for connecting the driver 203 and the first support member 202, as long as it can drive the variable member 201. For example, a mechanism including a gear or the like that converts the direction of transmission of force from the driver 203 may be provided between the driver 203 and the variable member 201 or the first support member 202. In this case, the conversion mechanism or the like is included as a component of the driver 203.

[0038] [Second embodiment] Next, a drive mechanism according to a second embodiment will be described with reference to Figures 5 and 6. Note that the same names and symbols as those in the first embodiment indicate the same or similar components, and detailed descriptions will be omitted as appropriate. This also applies to the following embodiments and modifications.

[0039] Fig. 5 is a schematic side view showing an example of the configuration of a drive mechanism 200a according to the second embodiment. Fig. 6 is a schematic side view showing an example of how a variable member 201 included in the drive mechanism 200a according to the second embodiment is driven.

[0040] The driving mechanism 200a of this embodiment differs from the first embodiment mainly in that it has a second support member 204 that is arranged on the opposite side of the variable member 201 from the first support member 202 arranged on the variable member 201, extends in the parallel direction X, and supports the variable member 201.

[0041] In this embodiment, the variable member 201 is supported from both sides by both the first support member 202 and the second support member 204, thereby stabilizing the shape of the variable member 201 and stabilizing the deformation of the variable member.

[0042] The second support member 204 supports the variable member 201 by sandwiching the variable member 201 between itself and the first support member 202. As shown in Figure 6, when the variable member 201 is deformed, the second support member 204 expands and contracts to support the variable member 201.

[0043] The second support member 204 can be made of a resin material, a rubber material, a cloth material, or the like. Silicone resin or the like can be used as the resin material. It is preferable that the second support member 204 is stretchable so that it can expand and contract in accordance with the deformation of the variable member 201. The second support member 204 may be a thin string-like member that is short in the Y direction, or may be a band-like member that is long in the Y direction when viewed from above. If the second support member 204 is a band-like member, it is preferable that the length of the second support member 204 in the Y direction be shorter than the length of the variable member 201 in the Y direction.

[0044] One or more connecting members such as cable ties may be used to connect the second support member 204 and the variable member 201. The second support member 204 can also be joined to the variable member 201 with an adhesive member or the like to support the variable member 201.

[0045] [Third Embodiment] Next, a drive mechanism according to a second embodiment will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a schematic side view showing an example of the configuration of a drive mechanism 200b according to a third embodiment. Fig. 8 is a schematic side view showing an example of how a variable member 201 included in the drive mechanism 200b is driven.

[0046] The driving mechanism 200b according to this embodiment differs from the second embodiment mainly in that it includes a third supporting member 205 that is disposed on the opposite side of the second supporting member 204 that is disposed on the variable member 201. The third supporting member 205 is more flexible than the first portion 211 and less flexible than the second portion 212.

[0047] In this embodiment, by disposing the third support member 205, which is more flexible than the first portion 211 but less flexible than the second portion 212, it is possible to supplement the rigidity of the variable member 201 and reinforce the variable member 201 while maintaining the flexibility of the variable member 201. This makes it possible to stabilize the shape of the variable member 201 and stabilize the deformation of the variable member 201. Furthermore, when a person comes into contact with the drive mechanism 200, the third support member 205 can improve the tactile sensation.

[0048] The third support member 205 supports the variable member 201 from the side of the second support member 204 disposed on the variable member 201 opposite to the variable member 201. As shown in Figure 8, when the variable member 201 is deformed, the third support member 205 expands and contracts to support the variable member 201.

[0049] The third support member 205 can be made of a resin material, a rubber material, a sponge, or the like. Silicone resin or the like can be used as the resin material. It is preferable that the third support member 205 is stretchable so that it can expand and contract in accordance with the deformation of the variable member 201. The third support member 205 may be a thin string-like member that is short in the Y direction, or may be a band-like member that is long in the Y direction when viewed from above. If the third support member 205 is a band-like member, it is preferable that the length of the second support member 204 in the Y direction is shorter than the length of the variable member 201 in the Y direction. The third support member 205 can also be joined to the second support member 204 with an adhesive or the like to support the variable member 201.

[0050] From the viewpoint of stabilizing the shape of the variable member 201 and stabilizing the deformation of the variable member 201, it is preferable that the length of the third support member 205 in the Z direction, i.e., the thickness of the third support member 205, is thicker than the thickness of the second support member 204.

[0051] [Examples] Various examples of the drive mechanism according to the embodiment will be described with reference to Figs. 9 to 12. Fig. 9 is a schematic side view showing an example of the configuration of the variable member 201, first support member 202, and second support member 204 included in a drive mechanism according to a first example. Fig. 10 is a schematic side view showing an example of the configuration of the variable member 201, first support member 202, and second support member 204 included in a drive mechanism according to a second example. Fig. 11 is a schematic side view showing an example of the configuration of the variable member 201, first support member 202, and second support member 204 included in a drive mechanism according to a third example. Fig. 12 is a schematic side view showing an example of the configuration of the variable member 201, first support member 202, and second support member 204 included in a drive mechanism according to a fourth example.

[0052] In the first example shown in Fig. 9, the second portion 212 is made of a spring member. By making the second portion 212 of a spring member, it is possible to make it more flexible than the first portion 211. Furthermore, because the spring member has high elasticity, it can quickly return to its original state even when deformed. The spring member can be made of a metal material, a resin material, or the like.

[0053] 10 , the second portion 212 is made of sponge. By making the second portion 212 of sponge, the space between the first portions 211 can be filled with the second portion 212, compared to when the second portion 212 is made of a spring member. This makes it possible to stabilize the deformation of the variable member 201.

[0054] 11, the second portion 212 is made up of both a spring member and a sponge, which makes it possible to achieve both high elasticity provided by the spring member and stability in deformation of the variable member 201 provided by the sponge.

[0055] 12, the second part 212 is made of an integrated sponge, and the first part 211 is made of a frame-shaped member made of a metal or resin material. Even with this configuration, the effect of the embodiment of providing a drive mechanism that can deform along the shape of the object it comes into contact with can be obtained. The integrated second part 212 is not limited to being made of sponge, but may be made of a resin material or the like.

[0056] [Fourth Embodiment] Next, a robot according to a fourth embodiment will be described. The robot according to the fourth embodiment has a drive mechanism according to at least one of the first embodiment, second embodiment, third embodiment, first example, second example, third example, and fourth example described above. Below, a case where the robot according to the fourth embodiment is equipped with a drive mechanism 200 will be described as a representative example.

[0057] <Configuration Example of Robot According to Fourth Embodiment> The configuration of a robot according to the fourth embodiment will be described with reference to Figs. 13 to 15. Fig. 13 is a schematic perspective view showing an example of a robot 100 according to the fourth embodiment. Fig. 14 is a schematic side view showing an example of the robot 100. Fig. 15 is a schematic cross-sectional view taken along line XV-XV in Fig. 14.

[0058] The robot 100 has an exterior member 10 and is capable of being driven by supplied power. The robot 100 illustrated in this embodiment is a doll-type communication robot modeled after a bear cub. The robot 100 is manufactured to a size and weight suitable for being held by a user. The user refers to the user of the robot 100. Typical examples of users include working people living alone, seniors whose children have become independent, and frail elderly people who are the recipients of home medical care. The user may include not only the user of the robot 100, but also a person who simply comes into contact with the robot 100, such as the manager of the robot 100.

[0059] The exterior member 10 is flexible. The exterior member 10 contains, for example, a soft material that is comfortable to the touch when the user of the robot 100 touches the robot 100. The material of the exterior member 10 can be an organic material such as urethane foam, rubber, resin, or fiber. The exterior member 10 is preferably composed of an exterior such as a urethane foam material having thermal insulation properties and a soft cloth material covering the outer surface of the exterior.

[0060] The robot 100, as an example, has a torso 1, a head 2, arms 3, and legs 4. The head 2 has a right eye 2a, a left eye 2b, a mouth 2c, a right cheek 2d, and a left cheek 2e. The arms 3 include a right arm 3a and a left arm 3b. The legs 4 include a right leg 4a and a left leg 4b. The torso 1 corresponds to the robot main body. The head 2, arms 3, and legs 4 each correspond to a driver connected to the robot main body so as to be displaceable relative to the robot main body.

[0061] 13 to 15, the arms 3 are configured to be displaceable relative to the torso 1. When the robot 100 is held by a user, the right arm 3a and the left arm 3b are displaced and come into contact with the neck, torso, etc. of the user as if embracing the user. This action makes the user feel a sense of closeness to the robot 100, thereby promoting interaction between the user and the robot 100. Note that interaction with the user refers to an action of mutual contact between the user and the robot 100, such as stroking, tapping (touching), hugging (embracing), etc.

[0062] The torso 1, head 2, arms 3, and legs 4 are all covered with an exterior member 10. The exterior member of the torso 1 and the exterior member of the arms 3 are integrated, and the exterior members of the head 2 and legs 4 are separate from the exterior members of the torso 1 and arms 3. However, this configuration is not limited to this, and for example, only the parts of the robot 100 that are likely to be touched by the user may be covered with the exterior member 10. Furthermore, at least one of the exterior members 10 of the torso 1, head 2, arms 3, and legs 4 may be separate from the other exterior members. Furthermore, the parts of the head 2, arms 3, and legs 4 that do not move may not include components such as sensors inside them and may be composed only of the exterior member 10.

[0063] The robot 100 has a camera 11, a tactile sensor 12, a control unit 13, a vital sensor 14, a battery 15, a first capacitance sensor 21, and a second capacitance sensor 31 inside the exterior member 10. The robot 100 also has a camera 11, a tactile sensor 12, a control unit 13, a vital sensor 14, and a battery 15 inside the exterior member 10 in the torso 1. The robot 100 also has a first capacitance sensor 21 inside the exterior member 10 in the head 2, and a second capacitance sensor 31 inside the exterior member 10 in the arm 3.

[0064] The robot 100 also has a display 24, a speaker 25, and a light 26 inside the exterior member 10 of the head 2. The robot 100 also has displays 24 inside the exterior member 10 of the right eye 2a and the left eye 2b. In addition, the robot 100 has a speaker 25 inside the exterior member 10 of the mouth 2c, and a light 26 inside the exterior member 10 of the right cheek 2d and the left cheek 2e.

[0065] 15 , the robot 100 has a torso frame 16, a torso mount 17, a right arm drive unit 220a, and a left arm drive unit 220b inside the exterior member 10 of the torso 1. The robot 100 also has a head frame 22 and a head mount 23 inside the exterior member 10 of the head 2. The robot 100 also has a right leg frame 42a inside the exterior member 10 of the right leg 4a, and a left leg frame 42b inside the exterior member 10 of the left leg 4b.

[0066] The robot 100 also has a driving mechanism 200A and a driving mechanism 200B. The driving mechanism 200A has a variable member 201A, a first support member 202A, and a driving unit 203A. The driving mechanism 200B has a variable member 201B, a first support member 202B, and a driving unit 203B. Although different reference numerals are used for convenience of explanation, the driving mechanisms 200A and 200B may be substantially the same. The variable member 201A and the variable member 201B may be substantially the same, the first support member 202A and the first support member 202B may be substantially the same, and the driving units 203A and 203B may be substantially the same.

[0067] The variable member 201A is disposed inside the exterior member 10 of the right arm 3a, and the drive unit 203A is disposed inside the exterior member 10 of the torso 1. The first support member 202A is disposed so as to straddle the inside of the exterior member 10 of the right arm 3a and the inside of the exterior member 10 of the torso 1.

[0068] The variable member 201B is arranged inside the exterior member 10 of the left arm 3b, and the drive unit 203B is arranged inside the exterior member 10 of the torso 1. The first support member 202B is arranged to straddle the inside of the exterior member 10 of the left arm 3b and the inside of the exterior member 10 of the torso 1.

[0069] The torso frame 16, the head frame 22, the right leg frame 42a, and the left leg frame 42b are each a structure formed by combining multiple columnar members. The torso support platform 17 and the head support platform 23 are plate-like members having a support surface. The torso support platform 17 is fixed to the torso frame 16, and the head support platform 23 is fixed to the head frame 22. The torso frame 16, the head frame 22, the right leg frame 42a, and the left leg frame 42b may be formed in a box shape including multiple plate-like members.

[0070] The drive mechanism 200A is connected to the torso frame 16. The variable member 201A is driven by a drive unit 203A and is therefore displaceable relative to the torso frame 16. Displacement of the variable member 201A causes displacement of the right arm 3a relative to the torso 1. The drive unit 203A preferably has, for example, a reducer that increases the output torque of the drive unit 203A.

[0071] Drive mechanism 200B is connected to torso frame 16. Variable member 201B is driven by drive unit 203B and is therefore displaceable relative to torso frame 16. Displacement of variable member 201B causes displacement of left arm 3b relative to torso 1. Drive unit 203B preferably has, for example, a reducer that increases the output torque of drive unit 203B.

[0072] The driving mechanism 200A can drive the variable member 201A using one driving unit 203A so that the variable member 201A follows the shape of the target object. The driving mechanism 200B can drive the variable member 201B using one driving unit 203B so that the variable member 201B follows the shape of the target object. As a result, the driving mechanisms 200A and 200B can be configured to be inexpensive, small, and lightweight, and the configurations of the driving mechanisms 200A and 200B can be simplified. Furthermore, since the arm 3 has the driving mechanisms 200A and 200B, the robot 100 can be configured to be inexpensive, small, and lightweight, and the configuration of the robot 100 can be simplified.

[0073] Each of the drive mechanisms 200A and 200B can deform to fit the shape of an object that it comes into contact with. As a result, when the user and the robot 100 come into contact with each other, the drive mechanisms 200A and 200B can deform to fit the shape of the user's body and come into contact with the user as if embracing the user. This allows the user to feel as if they are being embraced by the robot 100, which can provide a sense of comfort to the user.

[0074] 13 to 15, the exterior member 10 covers at least a portion of each of the drive mechanisms 200A and 200B. The exterior member 10 has a lower hardness than the second portion 212 of each of the variable member 201A and the variable member 201B. In the arm portion 3 that is likely to be touched by the user, the exterior member 10 that covers at least a portion of each of the drive mechanisms 200A and 200B is made softer than the second portion 212, allowing the user who comes into contact with the arm portion 3 to feel a sense of softness. This makes it possible to provide a comfortable feeling to the user.

[0075] 13 to 15, the robot 100 has a torso 1 and an arm 3 connected to the torso 1 and including drive mechanisms 200A and 200B. Drive unit 203A of drive mechanism 200A and drive unit 203B of drive mechanism 200B are disposed on the torso 1 side of the arm 3. A first thickness d1 of an end of variable member 201A of drive mechanism 200A opposite to the torso 1 is equal to or smaller than a second thickness d2 of an end of variable member 201A on the torso 1 side. Furthermore, a first thickness d1 of an end of variable member 201B of drive mechanism 200B opposite to the torso 1 is equal to or smaller than a second thickness d2 of an end of variable member 201B on the torso 1 side.

[0076] The drive mechanisms 200A and 200B have few shape restrictions, allowing for a high degree of design freedom. By making the first thickness d1 of the end of each of the variable members 201A and 201B opposite the torso 1 equal to or smaller than the second thickness d2 of the end of each of the variable members 201A and 201B on the torso 1 side, the thickness of the arm 3 of the robot 100 opposite the torso 1 can be made thinner than the torso 1 side. This allows the robot 100 to have an adorable design. Furthermore, by making the torso 1 side of the arm 3 of the robot 100 thicker, the rigidity of the arm 3 can be increased and the movement of the arm 3 can be stabilized.

[0077] In the examples shown in FIGS. 13 to 15 , the object that the drive mechanisms 200A and 200B come into contact with is the user of the robot 100 who is holding the robot 100. For example, when the user holds the robot 100 and brings the robot 100 into contact with the user's torso, the drive mechanisms 200A and 200B are driven to follow the shape of the user's torso, which is the object. As a result, the drive mechanisms 200A and 200B are wrapped around the user's torso, and the right arm 3 a and left arm 3 b of the robot 100 are wrapped around the user's torso. With the right arm 3 a and left arm 3 b wrapped around the torso, the user feels a sense of closeness to the robot 100. This can promote communication between the user and the robot 100.

[0078] The head frame 22 is connected to the body frame 16 via a head connection mechanism 27, and is driven by a head servomotor 35c to be displaceable relative to the body frame 16. Displacement of the head frame 22 displaces the head 2 relative to the body 1. The head connection mechanism 27 preferably has, for example, a reducer that increases the output torque of the head servomotor 35c.

[0079] 13 to 15, the head frame 22 includes a neck frame F1c and a face frame F2c. The torso frame 16, the neck frame F1c, and the face frame F2c are connected to each other via connecting mechanisms.

[0080] The head servomotor 35c is a general term for multiple servomotors. For example, the head servomotor 35c has a neck servomotor M1c and a face servomotor M2c. The neck servomotor M1c rotates the neck frame F1c around a rotation axis perpendicular to the body frame 16. The face servomotor M2c rotates the face frame F2c around a rotation axis perpendicular to the rotation axis of the neck frame F1c.

[0081] By providing the head 2 with two-axis joints in this way, the robot 100 can achieve more realistic movements.

[0082] The right leg frame 42a is connected to the torso frame 16 via a right leg connecting mechanism 44a and has a right leg wheel 41a on the bottom side. To stabilize the posture of the robot 100, the robot 100 preferably has two right leg wheels 41a in the front-to-rear direction of the right leg frame 42a. The right leg wheels 41a are driven by the right leg servo motor 35d and can rotate around a rotation axis perpendicular to the front-to-rear direction of the right leg frame 42a. The rotation of the right leg wheel 41a enables the robot 100 to run. The right leg connecting mechanism 44a preferably has a reducer that increases the output torque of the right leg servo motor 35d, for example.

[0083] The left leg frame 42b is connected to the torso frame 16 via a left leg connecting mechanism 44b and has a left leg wheel 41b on the bottom side. To stabilize the posture of the robot 100, the robot 100 preferably has two left leg wheels 41b in the front-to-rear direction of the left leg frame 42b. The left leg wheel 41b is driven by the left leg servo motor 35e and can rotate around a rotation axis perpendicular to the front-to-rear direction of the left leg frame 42b. The rotation of the left leg wheel 41b enables the robot 100 to run. The left leg connecting mechanism 44b preferably has, for example, a reducer that increases the output torque of the left leg servo motor 35e.

[0084] 13 to 15, the robot 100 moves forward or backward by simultaneously rotating the right leg wheel 41a and the left leg wheel 41b forward or backward. The robot 100 turns right or left by braking either the right leg wheel 41a or the left leg wheel 41b and rotating the other forward or backward.

[0085] In this way, the legs 4 enable the robot 100 to perform movements with a higher degree of realism.

[0086] The camera 11 is fixed to the torso frame 16. The tactile sensor 12, the control unit 13, the vital sensor 14, and the battery 15 are fixed to the torso mounting base 17. The control unit 13 and the battery 15 are fixed to the torso mounting base 17 on the side opposite to the side on which the tactile sensor 12 and the vital sensor 14 are fixed. Note that the placement of the control unit 13 and the battery 15 here is based on the available space on the torso mounting base 17 and is not necessarily limited to the above. However, if the battery 15 is fixed to the side opposite to the side on the torso mounting base 17 on which the tactile sensor 12 and the vital sensor 14 are fixed, the center of gravity of the robot 100 will be lower because the battery 15 is heavier than the other components. A lower center of gravity of the robot 100 is preferable because it stabilizes at least one of the position and posture of the robot 100 and makes it easier to charge and replace the battery 15.

[0087] The first capacitance sensor 21 is fixed to the head rest 23. The display 24 has a right eye display 24a and a left eye display 24b. The right eye display 24a, the left eye display 24b, and the speaker 25 are fixed to the head frame 22. The light 26 has a right cheek light 26a and a left cheek light 26b. The right cheek light 26a and the left cheek light 26b are fixed to the head frame 22.

[0088] The camera 11, tactile sensor 12, control unit 13, vital sensor 14, battery 15, first capacitance sensor 21, second capacitance sensor 31, etc. can be fixed with screws, adhesive members, etc. The right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, left cheek light 26b, etc. can also be fixed with screws, adhesive members, etc.

[0089] There are no particular restrictions on the materials used for the torso frame 16, torso mounting base 17, head frame 22, and head mounting base 23, and resin materials, metal materials, etc. can be used. However, from the perspective of ensuring strength during operation, it is preferable to use a metal material such as aluminum for the torso frame 16. On the other hand, if strength can be ensured, it is preferable to use a resin material for each of these parts in order to reduce the weight of the robot 100. There are no particular restrictions on the materials used for the torso mounting base 17, head frame 22, and head mounting base 23, and resin materials or metal materials can be used, but from the perspective of reducing the weight of the robot 100, it is preferable to use a resin material.

[0090] The control unit 13 is communicably connected to each of the camera 11, tactile sensor 12, vital sign sensor 14, first capacitance sensor 21, second capacitance sensor 31, and head servo motor 35c by wire or wirelessly. The control unit 13 is also communicably connected to each of the right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, and left cheek light 26b by wire or wirelessly.

[0091] The camera 11 is an image sensor that outputs a captured image of the periphery of the robot 100 to the control unit 13. The camera 11 includes a lens and an imaging element that captures an image through the lens. A CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) can be used as the imaging element. The captured image may be either a still image or a video image.

[0092] Furthermore, the camera 11 is preferably configured as a TOF (Time Of Flight) camera that outputs a distance image of the periphery of the robot 100 to the control unit 13. Therefore, the captured image output from the camera 11 may include a three-dimensional captured image (distance image) in addition to or instead of the two-dimensional captured image. The captured image is used to detect the presence or approach of a user, detect the distance from the robot 100 to the user, authenticate the user, or estimate the user's emotions or behavior. The captured image is an example of a captured image of a user. In addition to the camera 11, the robot 100 may also be equipped with a human presence sensor such as an ultrasonic sensor, an infrared sensor, a millimeter-wave radar, or a LiDAR (light detection and rang- ing) sensor.

[0093] The tactile sensor 12 is a sensor element that detects information sensed by the sense of touch of a human hand, converts it into a tactile signal, which is an electrical signal, and outputs it to the control unit 13. For example, the tactile sensor 12 converts information on pressure or vibration generated when a user touches the robot 100 into a tactile signal using a piezoelectric element and outputs it to the control unit 13. The tactile signal output from the tactile sensor 12 is used to detect the user's contact with or presence of the robot 100.

[0094] The vital sensor 14 is an example of an electromagnetic wave sensor that acquires biometric information of a user using electromagnetic waves.

[0095] The first capacitance sensor 21 is a sensor element that detects, based on a change in capacitance, that a user has come into contact with or come close to the robot 100 and outputs a capacitance signal to the control unit 13. The first capacitance sensor 21 is preferably a rigid sensor with low flexibility in terms of stabilizing the exterior member 10. The capacitance signal output from the first capacitance sensor 21 is used to detect the proximity or presence of a user to the robot 100.

[0096] The right-eye display 24a and the left-eye display 24b are display modules that display character strings or images such as letters, numbers, and symbols in response to commands from the control unit 13. The right-eye display 24a and the left-eye display 24b are configured, for example, by liquid crystal display modules. The character strings or images displayed on the right-eye display 24a and the left-eye display 24b are used to express the emotions of the robot 100. For example, if a user is sitting with happy emotions, the robot 100 can display a "smiling" image on the right-eye display 24a and the left-eye display 24b to empathize with the user's happiness, thereby implicitly inducing interaction with the user.

[0097] The speaker 25 is a speaker unit that amplifies an audio signal from the control unit 13 and outputs the audio. The audio output from the speaker 25 is the words or cries of the robot 100 and is used to express the emotions of the robot 100. For example, the robot 100 can perform an action that induces interaction with the user by outputting a voice of "making a (worried) voice" from the speaker 25 to a user who is doing housework and feeling sad.

[0098] The right cheek light 26a and the left cheek light 26b are light modules that blink or change color in response to an on / off signal from the control unit 13. The right cheek light 26a and the left cheek light 26b are configured, for example, by LED (Light Emitting Diode) light modules. The blinking or color change of the right cheek light 26a and the left cheek light 26b is used to express emotions of the robot 100. For example, if a user is sitting and feeling sad, the robot 100 can express empathy by making the right cheek light 26a and the left cheek light 26b blink blue, thereby enabling the robot 100 to take an action that induces interaction with the user.

[0099] The battery 15 is a power source that supplies power to the camera 11, tactile sensor 12, control unit 13, vital sensor 14, first capacitance sensor 21, right arm drive unit 220a, and left arm drive unit 220b. The battery 15 also supplies power to the head servo motor 35c, right leg servo motor 35d, and left leg servo motor 35e. The battery 15 also supplies power to the right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, and left cheek light 26b. Various secondary batteries such as lithium ion batteries and lithium polymer batteries can be used for the battery 15.

[0100] Note that the various sensors such as the first capacitance sensor 21 in the robot 100 are not essential components. The robot 100 is only required to have at least the camera 11, the vital sensor 14, and the tactile sensor 12. The installation positions of these sensors can also be changed as appropriate. Furthermore, the various sensors such as the camera 11, the vital sensor 14, and the tactile sensor 12 may be arranged outside the robot 100 and transmit necessary information to the robot 100 or an external device via wireless communication. For example, a PC (Personal Computer) is an example of an external device.

[0101] Furthermore, the robot 100 does not necessarily have to have the control unit 13 inside the exterior member 10, and the control unit 13 can also communicate with each device wirelessly from outside the exterior member 10. The battery 15 can also supply power to each component from outside the exterior member 10.

[0102] In this embodiment, a configuration in which the head 2, arms 3, and legs 4 are movable is exemplified, but this is not limiting, and at least one of the head 2, arms 3, and legs 4 may be movable. It is preferable that an end effector such as a hand can be connected to the arms 3. Furthermore, although the legs 4 are configured using wheels, they may also be configured using crawlers, legs, or the like.

[0103] The configuration and shape of the robot 100 are not limited to those illustrated in Figures 13 to 15, and can be changed as appropriate depending on the user's preferences and the manner in which the robot 100 is used. For example, the robot 100 may be in the form of a robot arm such as an industrial robot, or in the form of a humanoid robot, instead of a form resembling a bear cub. The robot 100 may also be in the form of a mobile device such as a drone or vehicle that has at least one of an arm, a display, a speaker, a light, and the like.

[0104] Although the preferred embodiments have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the claims.

[0105] Furthermore, all ordinal numbers, quantitative numbers, and other figures used in the above-described embodiments are merely examples for specifically explaining the technology of the present invention, and the present invention is not limited to the exemplified figures. Furthermore, the connection relationships between the components are merely examples for specifically explaining the technology of the present invention, and the connection relationships for realizing the functions of the present invention are not limited to these.

[0106] Furthermore, the robot according to the embodiment is particularly suitable for use in providing comfort (a sense of security or self-affirmation) by promoting oxytocin secretion in working people living alone, seniors whose children have become independent, frail elderly people who are recipients of home medical care, etc. However, the robot according to the embodiment is not limited to this use, and can also be used favorably as an industrial robot, etc.

[0107] The drive mechanism according to the embodiment can be suitably used in a robot, etc. Since the drive mechanism according to the embodiment is an under-driven drive mechanism, it is possible to configure a robot, etc. to be inexpensive, small, and lightweight, and to simplify the configuration of the robot, etc.

[0108] Examples of aspects of the present disclosure are as follows. <1> A drive mechanism including a variable member in which one or more first portions and one or more second portions having higher flexibility than the first portions are arranged alternately in a parallel direction, a first support member that supports the variable member, and a drive unit that drives the variable member. <2> The drive mechanism described in <1>, wherein the first support member extends in the parallel direction to support the variable member, and the drive unit applies a force to one end side of at least one of the variable member and the first support member in the parallel direction so as to change the position of at least one of the variable member and the first support member in the parallel direction, thereby displacing the other end side of the variable member in a direction intersecting the parallel direction. <3> The drive mechanism described in <2>, wherein the variable member has a second support member that is arranged on the opposite side of the first support member arranged on the variable member, extends in the parallel direction, and supports the variable member. <4> The drive mechanism according to <3>, further comprising a third support member disposed on the opposite side of the second support member disposed on the variable member, the third support member being more flexible than the first portion and less flexible than the second portion. <5> The drive mechanism according to any one of <1> to <4>, wherein the second portion is an elastic body. <6> The drive mechanism according to any one of <1> to <5>, wherein the first support member has a lower hardness than the first portion and a higher hardness than the second portion. <7> The drive mechanism according to any one of <1> to <6>, wherein the hardness of the first portion is equal to or greater than C2 and equal to or less than C90 on the Asker hardness scale. <8> The drive mechanism according to any one of <1> to <7>, wherein the hardness of the second portion is equal to or greater than F0 and equal to or less than C70 on the Asker hardness scale and is less than the hardness of the first portion. <9> A robot having the drive mechanism according to any one of <1> to <8>. <10> The robot according to <9>, further comprising an exterior member that covers at least a portion of the drive mechanism, the exterior member having a lower hardness than the second portion.<11> The robot according to <9>, further comprising: a torso; and an arm connected to the torso and including the drive mechanism, wherein the drive mechanism is disposed on the torso side of the arm; and a first thickness of an end of the variable member opposite the torso is equal to or smaller than a second thickness of an end of the variable member on the torso side.

[0109] This application claims priority based on Japanese Patent Application No. 2024-051591 filed with the Japan Patent Office on March 27, 2024, and includes the entire contents of these Japanese patent applications.

[0110] REFERENCE SIGNS LIST 1 Torso 2 Head 2a Right eye 2b Left eye 2c Mouth 2d Right cheek 2e Left cheek 3 Arm 3a Right arm 3b Left arm 4 Leg 4a Right leg 4b Left leg 10 Exterior member 11 Camera 12 Tactile sensor 13 Control unit 14 Vital sensor 15 Battery 16 Torso frame 17 Torso mount 21 First capacitance sensor 22 Head frame 23 Head mount 24 Display 24a Right eye display 24b Left eye display 25 Speaker 26 Light 26a Right cheek light 26b Left cheek light 27 Head connection mechanism 35c Head servomotor 35d Right leg servomotor 35e Left leg servomotor 41a Right leg wheel 41b Left leg wheel 42a Right leg frame 42b Left leg frame 44a Right leg linkage mechanism 44b Left leg linkage mechanism 100 Robot 200, 200A, 200B Drive mechanism 201, 201A, 201B Variable member 210a One end 210b Other end 211 First part 212 Second part 202, 202A, 202B First support member 221 Connecting member 203, 203A, 203B Drive unit 230 Rotation direction 231 Rotation axis 232 Rotating member 204 Second support member 205 Third support member F1c Neck frame F2c Face frame M1c Neck servo motor M2c Face servo motor d1 First thickness d2 Second thickness F Force X parallel direction

Claims

1. A drive mechanism comprising: a variable member in which one or more first portions and one or more second portions that are more flexible than the first portions are arranged alternately in a parallel direction; a first support member that supports the variable member; and a drive unit that drives the variable member.

2. A drive mechanism as described in claim 1, wherein the first support member extends in the parallel direction and supports the variable member, and the drive unit applies a force to one end side of at least one of the variable member and the first support member in the parallel direction so as to change the position of at least one of the variable member and the first support member in the parallel direction, thereby displacing the other end side of the variable member in a direction intersecting the parallel direction.

3. A drive mechanism as described in claim 2, further comprising a second support member disposed on the variable member opposite the first support member disposed on the variable member, extending in the parallel direction and supporting the variable member.

4. A drive mechanism as described in claim 3, further comprising a third support member disposed on the variable member opposite the second support member, wherein the third support member is more flexible than the first portion and less flexible than the second portion.

5. The drive mechanism according to claim 1, wherein said second portion is an elastic body.

6. The drive mechanism of claim 1, wherein the first support member has a lower hardness than the first portion and a higher hardness than the second portion.

7. The drive mechanism according to claim 1, wherein the hardness of the first portion is in the range of Asker hardness C2 to C90.

8. The drive mechanism according to claim 1, wherein the hardness of the second portion is in the range of Asker hardness F0 to C70, both inclusive, and is lower than the hardness of the first portion.

9. A robot having a drive mechanism according to any one of claims 1 to 8.

10. The robot according to claim 9, further comprising an exterior member covering at least a portion of the drive mechanism, the exterior member having a lower hardness than the second portion.

11. The robot described in claim 9, having a torso and an arm connected to the torso and including the drive mechanism, wherein the drive mechanism is arranged on the torso side of the arm, and a first thickness of the end of the variable member opposite the torso is equal to or less than a second thickness of the end of the variable member on the torso side.

Images