Abstract: A remote control device includes: a first arm; a second arm connected to a tip-end part of the first arm; two rotary bodies disposed at a tip of the second arm; a link structure including link members fixed to the two rotary bodies; and a user interface attached to the link structure. The two rotary bodies are independently and rotatably supported by respective coaxial drive shafts. The user interface is pivotable, with respect to the second arm, on each of mutually-perpendicular three axes passing through a center point of the link structure. The link structure is disposed at the lateral side of the rotary bodies so that the center point is located on an axis of the two drive shafts. The user interface is attached to the link structure on an axis of a rotation shaft passing through the center point.

Abstract: A manipulating device is provided, which includes a first parallel linkage mechanism having a pair of first links and a pair of second links, a second parallel linkage mechanism having a pair of third links and a pair of fourth links, and a support member supporting one of the third links. The first parallel linkage mechanism and the second parallel linkage mechanism commonly use one of the second links and one of the fourth links and an armrest member to which a manipulating member is attached at a tip-end part thereof is disposed in a lower-end part of the first parallel linkage mechanism.

Abstract: A manipulating device is provided, which includes a first parallel linkage mechanism having a pair of first links and a pair of second links, a second parallel linkage mechanism having a pair of third links and a pair of fourth links, and a support member supporting one of the third links. The first parallel linkage mechanism and the second parallel linkage mechanism commonly use one of the second links and one of the fourth links and an armrest member to which a manipulating member is attached at a tip-end part thereof is disposed in a lower-end part of the first parallel linkage mechanism.

Abstract: A knee structure of a robot in which a torque needed for an actuator bending a knee is kept small, when bending the knee shallowly. A leg includes a thigh, a lower leg disposed below the thigh, a knee joint bendably connecting the thigh with the lower leg, and a rubber member attached to the thigh and the lower leg so as to be across the thigh and the lower leg, with a slack when the leg stands straight. A restoring force caused by the rubber member is given to the thigh and the lower leg, when the leg is bent deeply so that the rubber member is stretched.

Abstract: A flexible joint comprises: first cylindrical bodies comprising a pair of spherical ring members; a second cylindrical body comprising a sleeve relatively movably inserted in the first cylindrical bodies from an axial direction X of the second cylindrical body; third cylindrical bodies comprising a pair of casing tubes which are fitted around outer peripheral surfaces of the first cylindrical bodies and are provided with mutually slidable spherical inner peripheral surfaces, the casings being formed at their opposite ends with connecting portions, and being provided at their outer peripheral surfaces of large diameter portions with projections having through holes; and rods capable of being inserted into the through holes formed in the outer peripheral surfaces of the large diameter portions, each of the rods being provided and fixed between the projections of the pair of third cylindrical bodies for restricting the telescopic movement of the tube joint, wherein the rods comprise a pair of rods connected to e

Abstract: A telescopic pivotal pipe joint for use in a fluid transporting pipe system such as water transporting pipe system installed under the ground is disclosed. The joint has a first pipe member including a semi-spherical inner peripheral face, a second pipe member including a semi-spherical pipe portion projecting radially outward and sidable along the semi-spherical inner peripheral face of the first pipe member, the second pipe member being slidably engaged within the first pipe member, and a third pipe member telescopically sidable in an axial direction and engaged on a straight pipe portion co-extensive with the semi-spherical pipe portion of the second pipe member. The semi-spherical pipe portion of the second pipe member defines an annular groove, into which one end of the third pipe member comes into engagement along the axial direction when the second pipe member and the third pipe member are contracted maximally relative to each other.

Abstract: A method of connecting a branch pipe to an existing main pipe is disclosed. The method includes the steps of: connecting and communicating a branch-pipe joint having a branching pipe portion to an existing main pipe; connecting a branch pipe to the branch-pipe joint; and communicating the branch pipe with the existing main pipe through the branch-pipe joint, with all these steps being effected while outflow of fluid from inside the main pipe being prevented. In the above method, the branch pipe is connected with a connecting pipe portion which in turn is connected with the branching pipe portion via a flange joint including a pair of flanges. A shutter plate is inserted between the pair of flanges of the flange joint and communicating the connecting pipe portion with the branching pipe portion thus preventing outflow of the fluid from the branching pipe portion.

Abstract: A connecting construction of a branch pipe is disclosed.