Flexible driving device

• Main Authors: YANG UN-JE, KIM JUNE-HWAN, KWON DONG-SOO, AHN JEONG-DO, YOU JAE-MIN, LEE DONG-GEOL, YI YE-SUNG, BAEK DONG-HOON, KIM HAN-SOUL
• Format: Patent
• Language: Chinese; English
• Published: 07.05.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

A flexible actuator according to one embodiment can comprise: a proximal part; a plurality of joint parts connected from the end portion of the proximal part around a longitudinal axis so as to be capable of actuation; a distal part connected to the end portion of the plurality of joint parts; a pair of actuating wires, which pass, in parallel, through the plurality of joint parts along the longitudinal axis so as to actuate the plurality of joint parts in the rotational direction in which the joint parts rotate around a transverse axis that is vertical to the longitudinal axis; and fixing wires, which pass, in a converging shape, through the plurality of joint parts along the longitudinal axis, so as to adjust the stiffness of the plurality of joint parts. 根据一实施例的柔性驱动装置可以包括：近位部；多个关节部，其以纵轴为基准，从所述近位部的端部可驱动地连接；远位部，其连接到所述多个关节部的端部；一对驱动导线，其沿所述纵轴平行穿过所述多个关节部，由此在与所述纵轴垂直的横轴为中心旋转的旋转方向上驱动所述多个关节部；以及固定导线，其通过沿所述纵轴以收敛的形式穿过所述多个关节部来调整所述多个关节部的刚度。