US 12,703,085 B2

摘要

Provided is an arm device in which a cable deceleration structure with improved degree of freedom of arrangement of a motor is applied to an active joint. The arm device includes one or more active shafts and includes an input capstan attached to an output shaft of a motor for driving at least one active shaft of the one or more active shafts, an output capstan attached to the at least one active shaft, an idler pulley disposed between the input capstan and the output capstan, and a cable wound around an outer periphery of each of the input capstan and the output capstan via the idler pulley.

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