Incremental working force was obtaind by combining a pneumatic muscle which could generate high driving force within a small mounting space with a toggle lever mechanism and a wedge.

• 利用气动肌腱这种输出力大和安装空间小的柔性驱动器与楔块和铰链连杆机构相结合而组成的增力机构,得到高倍数输出力。