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Abstract. To realize the no-backlash transmission element for wearable human assist robots, a trochoidal gear reducer with a slipping rollers type torque limiter has been developed. This reducer is a kind of a pin gear with planetary motion. That roller-train is fixed only by friction force to slip under an overload. And a preload mechanism has been developed. This mechanism consists of an outer race and a preload generator which have taper contact sections to generate a uniform preload. Also, a calculation method of a trochoidal gear tooth profile by use of polar complex vector geometry is proposed. Then, using the prototype reducer, it is proved that slip occurs in the set torque, and that reducer can rotate without backlash. And it is clear that has the sufficient performances for actuator of wearable human assist robots.

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