So the research on the pneumatic driver and flexible joints have significant application value for the robot areas.

而研究以气体为动力的驱动器以及由其所构成的柔性关节对机器人领域具有重大的应用价值。

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Motor drive have advantages of energy transfer convenient, signal transform quickly, high level standard, than hydraulic or pneumatic drive, become the mainstream of driver.

电机驱动相比液压或气压驱动，有能量传递方便，信号传递迅速，标准程度高的优点，成为机器人驱动的主流选择。

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Three kinds of hinge rod typed force amplification mechanism, which takes pneumatic muscle as the driver, were introduced, and the corresponding calculation formulae of force output were given out.

介绍了三种以气动肌腱为驱动的铰杆式增力机构，并给出了相应的输出力计算公式。

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