Abstract: The transfer assistance device includes a bogie, an arm tiltably supported by the bogie, a holding part that is supported by the arm and holds a torso of a person being assisted. The holding part includes at least a low pressure cell group and a high pressure cell group configured to respectively face different parts of a front surface of the torso of the person being assisted. The transfer assistance device further includes air pressure adjuster configured to individually adjust air pressure of the low pressure cell group and air pressure of the high pressure cell group.

Abstract: The transfer assistance device includes a bogie, an arm tiltably supported by the bogie, a holding part that is supported by the arm and holds a torso of a person being assisted. The holding part includes at least a low pressure cell group and a high pressure cell group configured to respectively face different parts of a front surface of the torso of the person being assisted. The transfer assistance device further includes air pressure adjuster configured to individually adjust air pressure of the low pressure cell group and air pressure of the high pressure cell group.

Abstract: In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.

Abstract: In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.

Abstract: A plate spring body (support member) elastically supports an inner gear (second bevel gear) relative to an outer gear (first bevel gear). Ring springs (fluctuation suppressing member) are further provided to reinforce the elastic support, so as to suppress fluctuation of the inner gear along a direction nearly perpendicular to an axis connecting the center of rotation of the outer gear and contact part with a hypoid pinion gear (third bevel gear).

Abstract: The invention concerns a hypoid gear structure which includes a hypoid ring gear disposed coaxially with a rotation axis and a hypoid pinion gear provided with a rotation axis of an electric motor and engaging with the hypoid ring gear. The hypoid gear includes a first toothed portion disposed on the inner side and a second toothed portion disposed on the outer side, and one of the first toothed portion and the second toothed portion is urged by a spring to press the hypoid pinion gear.

Abstract: A hypoid gear structure which includes a hypoid ring gear disposed coaxially with a rotation axis, and a hypoid pinion gear provided with a rotation axis of an electric motor and engaging with the hypoid ring gear. The hypoid ring gear includes a first toothed portion disposed on the inner side and a second toothed portion disposed on the outer side, and one of the first toothed portion and the second toothed portion is urged by a spring to press the hypoid pinion gear.

Abstract: A honing apparatus for honing a cylindrical surface of a workpiece, including a honing head supporting honing stones, a first drive device having an electrically operated bidirectional actuator for effecting a relative reciprocating movement between the honing head and the workpiece in an axial direction of the cylindrical surface, a second drive device for effecting a relative rotating movement between the honing head and the workpiece, a diameter measuring device for measuring a diameter of the cylindrical surface of the workpiece, and a reciprocation control device connected to the diameter measuring device and the electrically operated actuator. The control device is adapted to operate based on a measurement of the diameter by the diameter measuring device, to determine at least one of a range of the relative reciprocating movement, and a speed distribution of the relative reciprocating movement over a range of the relative reciprocating movement.