KR101478102B1 - Measurement of biceps brachii muscular strength and elbow muscle strength reinforcing wearable robot for elbow movement - Google Patents

Abstract

The objective of the present invention is to solve problems of conventional wearable robots that the wearable robot is difficult to rapidly understand wearer′s intention of motion, and, therefore, the natural motion through rapid responses to continuous muscular signals is not performed, thereby decreasing wearability; that the wearable robot requires various composition parts to detect bio-signals, which makes the weight and the volume large, and makes the wearable robot uneasy to mount and use; and that the wearable robot is difficult to commercialize due to high manufacturing costs. The present invention provides a wearable robot consisting of a brachial link, an antebrachial link and a joint unit. The wearable robot according to the present invention understands the precise intention of motion of a wearer with sensors, and reduces the load applied to the wearer by reinforcing the muscular strength so as to support the elbow muscular strength. Moreover, the wearable robot according to the present invention is light and less volumetric so as not to interfere with the motion according to the intention of the wearer, and is easy to wear and take off, and minimizes the inconvenience that the wearer feels in wearing by adjusting the wearing part to fit to arms of various wearers so as to flexibly correspond to the motion of arms. Furthermore, the present invention has the purpose to provide a wearable robot for reinforcing elbow muscular strength by measuring biceps brachii muscular strength and using elbow movement, of which manufacturing costs are reduced by reducing the number of parts, thereby allowing to commercialize the wearing robot.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a wearable robot for measuring strength of a biceps brachiocephalic muscle, an elbow muscle strength enhancement using an elbow motion,

The present invention relates to a wearable robot for measuring the strength of the biceps brachiocephalic muscle and enhancing the strength of the elbow muscles by using the elbow motion, which helps the wearer's muscular strength by enhancing the strength of the wearer.

Generally, a wearable robot is a device that encompasses a motorized system that is worn by the body and a system that strengthens various body functions by using human body signals. It is a medical device that aims to improve the mobility and life of the elderly or the disabled, And it is widely used for assisting the hard work of the user by increasing the strength of the wearer in the field of the field of industry and the like. Various types of systems are being developed.

The wearable robot which is used in such a field has an exoskeleton shape mimicking the joints of the human body and is used for amplifying the muscle strength by receiving a synchronous signal from the wearer. The wearable robot is classified into a bio signal, a force signal, do.

In this case, the bio-signal can expect a quick response to the motion intention and a response to the continuous muscle signal by sensing and directing the direct muscle expansion of the wearer. However, it is not easy to construct a measuring device and an actuator for measuring motion, Is not constant for every wearer, requires various constituent parts for detecting a biological signal, and is heavy in weight and bulky, is not easy to mount and use, is difficult to commercialize at a high production cost, is complicated to manufacture and repair, There is a problem that other variables are measured according to wearer's muscle fatigue.

In addition, although the force signal can acquire the motion directly by sensing the force applied to the wearer's intended direction and acquiring the motion, the motion intention can be obtained, but the response to the continuous muscle signal can not be expected, There is a problem in that the feeling of use of the apparatus is deteriorated.

Accordingly, the user can quickly grasp the motion of the wearer, so that the natural motion can be achieved through the rapid response to the continuous muscle signal, and the wearer's force and the mechanical force coexist to maximize the advantages of the device through the bio- And wearable robots that can compensate for the disadvantages were needed.

In order to solve the above problems, the present invention grasps the correct operation intention of the wearer from the sensor and increases the strength of the wearer to reduce the load acting on the wearer, thereby assisting the wearer with difficulty in the strength thereof, It is required to be lightweight, not bulky and easy to be mounted and dismounted so as not to be disturbed, and to adjust the wear part according to various wearer's arms to minimize the inconvenience felt by the wearer when worn, The present invention provides a wearable robot for strengthening the strength of the elbow using the elbow motion, measuring the strength of the biceps biceps that can be easily adjusted by the wearer, preventing accidents due to mechanical errors, There is a purpose.

In order to accomplish the above object, the wearable robot for measuring the strength of the biceps brachiocephalus according to the present invention,

An upper arm link fixed to the outer surface of the upper arm of the wearer to transmit a force acting on the wearer to the microcomputer,

A forearm link which is fixedly supported on the outer surface of the forearm of the wearer and senses the movement of the wearer's wrist and transmits it to the microcomputer,

And a joint portion formed between the upper arm link and the forearm link to receive the information and convert it into mechanical energy to assist the wearer's strength and smoothly rotate the upper arm link and the forearm link in accordance with the rotation of the elbow.

As described above, in the present invention, it is difficult to determine the correct operation intention of the wearer from the sensor and to increase the strength of the wearer to reduce the load acting on the wearer, And it is light and bulky so as not to interfere with the operation by the wearer's intention and can be easily mounted and dismounted and the wear part is adjusted according to various wearer's arms to minimize the inconvenience that the wearer feels when wearing, The wearer can easily adjust the strength of the muscle strength and can generate strong power by sharing the force of the wearer with the force of the actuator and can recognize the correct operation through the sensor for each part Prevent accidents caused by mechanical errors and minimize parts It is easy to good effect can be cheaper to commercialization.

FIG. 1 is a perspective view showing a general shape of a wearable robot for strengthening an elbow strength by measuring strength of a biceps brachiocephalic muscle according to the present invention,
FIG. 2 is a front view showing a general shape of a wearable robot for strengthening an elbow strength using the measurement of a biceps brachiocephalus muscle and an elbow motion according to the present invention;
FIG. 3 is an exploded perspective view of a wearable robot according to the present invention,
Figure 4 also shows that the forearm link according to the invention is rotated,
FIG. 5 is an enlarged view showing an embodiment in which the forearm link according to the present invention is rotated at maximum,
Fig. 6 is a view showing an embodiment in which the drive motor inserted in the motor insertion hole of the upper arm frame according to the present invention is moved to tension the power transmission belt,
FIG. 7 is a perspective view illustrating components of a wrist motion detection device attached to the forearm frame according to the present invention,
FIG. 8 is a diagram illustrating the rotation of the manual driving / detaching unit and the motor driving reference indicator of the harmonic drive according to the present invention.
FIG. 9 is a sectional view showing the embodiment in which the transducer of the manual desorption unit according to the present invention is rotated and the fixing plate and the rotating plate are separated from each other.
10 shows a front view of a wearer wearing a wearable robot,
11 shows a rear view of a wearer wearing a wearable robot,
Fig. 12 is a view showing an embodiment in which the wearer according to the present invention wears a wearable robot and carries an object.

The wearable robot described in the present invention is a concept that encompasses a power transmission system to be worn on the body and a system for enhancing various body functions using human body signals.

In addition, the forearm described in the present invention means a portion from the shoulder to the elbow of the body.

The forearm described in the present invention means a portion from the elbow to the wrist of the body.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view illustrating a general shape of a wearable robot for measuring strength of a biceps brachiocephalic muscle according to an embodiment of the present invention. FIG. 1 is a perspective view of a wearable robot for strengthening an elbow strength using elbow movement. ).

First, the upper arm link 100 according to the present invention will be described.

The upper arm link 100 is fixed to the outer surface of the upper arm of the wearer and senses a force acting on the wearer and transmits the sensed force to the microcomputer unit. The upper arm link 100 includes an upper arm frame 110, a muscle strength measuring device 120, And a shoulder 130.

The upper end portion 111 of the upper arm frame 110 is rectangular and has a shoulder fastening hole 111a, a muscle strength measuring device coupling hole 111b and a weight reducing hole 111c, The upper arm link 100 as a whole is supported in the form of a board in which a motor insertion hole 112a can be inserted and fixed and a rotation preventing jaw 113 is formed on one side of the upper arm link 100. The muscle force measuring device 120 and the driving motor 310 and prevents the elbow from being bent in the opposite direction due to malfunction of the machine through the rotation preventing jaw 113. [

Here, the shoulder fastening holes 111a are formed in a 'C' shape on the left side, the upper side and the right side of the upper end surface so that the upper arm fixation band 131 is inserted in three directions so that the upper arm fixed shoulder hanger 130 is not shaken So that it can be stably fixed.

In addition, the muscle force measuring device coupling hole 111b is formed on the left and right sides in the shape of an elongated hole extending from the upper end to the lower end to adjust the muscle strength measuring device in the upward and downward directions according to the body size of the user and fasten the bolts and nuts .

In addition, the weight reduction holes 111c are spaced upward and downward at the center of the upper arm frame to reduce consumption of material of the upper arm frame and minimize weight of the wearable robot, thereby reducing unnecessary energy consumption.

The muscle strength measuring device 120 includes three elastic measurement bands 122 at both ends of a 'U' shape measuring device 121 formed on the inner surface of the upper arm frame at regular intervals to determine whether or not the biceps muscles are used Measures the thickness of the biceps biceps that are changed as the contraction of the muscles expands, sensing the fine movement of the biceps biceps contraction and relaxation caused by the force acting on the wearer's arm, tightly wrapping the wearer's upper arm, And transmits a control signal to the microcomputer 234.

In the present invention, the muscle strength measuring apparatus 120 adjusts the height of the upper arm and lower arm of the upper arm link in accordance with the wearer's body size, The inner side portion 121a of the 'U' shape measuring device 121 is moved left and right to detach and attach to the upper arm portion of the wearer, It can be brought into close contact with the thickness of the upper arm.

Here, the muscle strength measuring device 120 recognizes the circumference of the upper arm of the wearer and senses the amount of change in the circumference of the upper arm through the tensile force applied to the elastic measuring band in accordance with the contraction and relaxation of the biceps biceps, .

That is, when the wearer applies a force to lift a heavy object, the biceps of the upper arm of the upper arm is stimulated to contract in the longitudinal direction. When the thickness expands, the inner side portion 121a and the outer side portion 121b of the U- The tensile force measuring sensor built in the elastic measuring band 122 senses the tensile force to be transmitted to the microcomputer 234 through the muscle strength measuring sensor module 123, Is measured.

The upper arm fixed shoulder 130 is fixed to the upper end of the upper arm link 100 so as to surround the wearer's shoulder and fix the wearable robot 1 to the wearer's arm. 131, a shoulder fixing band 132, and an upper arm fixing band 133 are attached.

The upper arm fixation band 131 is formed on the front, rear, and upper surfaces of the upper arm fixed shoulder hanger 130, and is inserted into and fixed to the shoulder fixing grooves formed on the front, rear, (100).

The shoulder fixing band 132 starts from the back of the right shoulder and covers the left armpit and is inserted into the band loop 132a at the front of the right shoulder to adjust its length so that it can be fixed tightly to the body size, And the inner surface is attached and fixed in the form of a belt tape.

The upper arm fixation band 133 starts from the posterior part of the upper arm and is wrapped around the upper end of the upper arm,

Next, the forearm link 200 according to the present invention will be described.

The forearm link 200 is fixed on the outer surface of the forearm of the wearer and senses the movement of the wearer's wrist and transmits the sensed movement to the microcomputer. The forearm frame 210 includes a forearm frame 210, And a wrist motion detecting device 230.

The upper end 211 of the forearm frame 210 is formed in a circular shape so that a harmonic reducer can be coupled to the lower end 212. The lower end 212 has a rectangular shape and includes a front arm fixing band insertion hole 212a and a weight reduction hole 212b of the front link 200 and the harmonic reducer 330. The front link 200 and the harmonic reducer 330 are fixed to each other.

The forearm fastening band insertion hole 212a is formed by a first insertion hole formed in a front and a rear surface of an upper end in the shape of a longitudinally elongated hole and a second insertion hole formed in a front surface and a rear surface of the lower end, So that the fixing band 220 can be inserted.

In addition, the weight reduction holes 212b are formed at the center of the forearm frame 210 so as to be spaced apart from each other in the vertical direction, thereby reducing the consumption of material of the forearm frame and minimizing the weight of the wearable robot, thereby reducing unnecessary energy consumption.

The forearm fixing band 220 is formed on the inner surface of the forearm frame 210 to surround the forearm of the wearer and to fix the forearm to the forearm frame. The upper arm 220 is inserted into the first insertion hole 212a-1, And a second Velcro 222 which is inserted into the second insertion hole 212a-2 and surrounds the lower end of the forearm.

The first Velcro 221 inserted in the first insertion hole 212a-1 fixes and supports the upper end of the forearm and the second Velcro 222 inserted in the second insertion hole 212a- So that the forearm can be stably fixed to the forearm frame 210 by minimizing the shaking due to the movement of the forearm.

The wrist motion detecting device 230 senses the minute movement of the wrist of the wearer and grasps the intention according to the movement of the wrist so that the wrist motion can be flexibly controlled. A switch unit 232, a wrist detection sensor module 233, and a microcomputer unit 234.

The wrist protection frame 231 has a square shape frame formed symmetrically with the lower end of the forearm link and has a rectangular limit switch attachment hole formed on the front surface of the front protection frame 231a and the rear surface of the rear protection frame 231b And a wrist detection limit switch part 232 for contacting and separating according to the movement of the wrist and wrist and detecting the movement of the wrist by attaching a limit switch.

In the present invention, the wrist protection frame 231 is adjusted in the left and right directions according to the thickness of the wrist through the wrist protection frame fitting hole 212c of the forearm link, and then bolts and nuts are fastened to the forearm link.

Thus, the position can be adjusted according to the thickness of the wrist of the user, so that the distance between the wrist and the wrist is set to be constantly 1 cm.

Here, the reason why the distance between the wearer's wrist and the wrist sensing limit switch portion 232 is kept constant at 1 cm is because the thickness of the wrist varies depending on the wearer's body. Therefore, when the wearable robot is worn, This is to compensate for the difficulty in recognizing accurate operation information.

In other words, in the case of a wearer with a large wrist according to the body, the distance of the limit switch is adjusted to be spaced apart. In the case of a wrist wearer, the distance between the limit switches is adjusted to maintain a constant distance of the wrist sensing limit switch for each wearer By recognizing the accurate motion information according to the wrist motion, various people with different body sizes can use it.

The wrist detection limit switch unit 232 is attached to the left and right sides of the square-shaped switch mounting holes of the front protection frame and the rear protection frame so as to protrude in the wrist direction, respectively, so that the limit switch contacts the limit switch It is ON / OFF by opening / closing the contact, and it acts to detect movement of the wrist.

For example, when the wearer lifts the arm forward to lift the object, the first switch 232a and the second switch 232b attached to the front protective frame 231a are pushed by the wrist, the contact is closed, and the microcomputer 234 The third switch 232c and the fourth switch 232d attached to the rear surface protection frame 231b when the wearer lowers his or her arms are operated by the wrist So that the contact is closed and a signal is transmitted to the microcomputer so as to remove the drive power assisting the force acting on the arm.

In the present invention, the wrist-sensing limit switch unit 232 includes a first switch 232a and a second switch 232b attached to the front protection frame, a third switch 232c and a fourth switch 232d, Each of the switches is positioned at a distance of 1 cm from the user's wrist so as to be constantly in contact with the wrist according to the movement of the wrist of the wearer and transmits information sensed by the switch to the wrist detection sensor module 233 ..

The wrist detection sensor module 233 is attached to one side of the lower end of the forearm link to transmit a signal sensed by the wrist sensing limit switch part 232 to the microcomputer 234, 232 to the microcomputer 234 when the first switch 232a and the second switch 232b are detected and when the third switch 232c and the fourth switch 232d are sensed, 234, respectively.

The microcomputer 234 is housed in the hips 2 attached to the back of the wearer and connected to the muscle strength measuring device 120, the wrist motion detecting device 230 and the driving motor 310 to sense the wearer's operation And transmits the motion signal to the driving motor based on the recognized motion signal to control the wearable robot 1 as a whole.

The microcomputer 234 of the present invention transmits an operation signal recognized by the wrist sensing limit switch unit 232 to the driving motor to assist the rotation direction of the forearm link in a direction in which the forearm of the wearer moves, And transmits the tensile force measurement signal of the recognized elastic measurement band to the drive motor to assist in controlling the rotational energy of the forearm link.

That is, when the first switch 232a and the second switch 232b are detected, the microcomputer 234 transmits the operation signal recognized by the wrist-sensing limit switch unit 232 to the driving motor, , The driving motor 310 is rotated in the counterclockwise direction to rotate the forearm link 200 forward and upward and the driving motor is rotated clockwise when the third switch 232c and the fourth switch 232d are sensed The forearm link is rotated backward to support the rotation direction of the forearm link 200 in a direction in which the wearer moves, thereby controlling the operation to be more natural.

When the muscles of the upper arm of the wearer are contracted in the longitudinal direction and the thickness is expanded, tensile force acting on the elastic measurement band surrounding the circumference of the upper arm is measured and the operation signal is transmitted to the drive motor to control the power of the wearable robot It assists the force acting on the wearer's arm.

Next, the joint 300 according to the present invention will be described.

The joint part 300 is formed between the upper arm link 100 and the forearm link 200 to receive information and convert it into mechanical energy to assist the wearer's muscular strength and flex the upper arm link and the forearm link according to the elbow rotation The motor driving reference display unit 350 and the manual driving and detaching unit 360 are connected to the driving motor 310, the power transmission belt 320, the harmonic reducer 330, the variable resistance sensor 340, .

The driving motor 310 is inserted into the motor insertion hole 112a of the upper arm frame and the driving shaft is connected to the power transmission belt 320. The driving motor 310 is connected to the microcomputer and receives a control signal, Transforms it.

The power transmission belt 320 is connected to the driving shaft of the driving motor 310 and the rotation shaft of the harmonic reducer 330 to transmit the rotational force of the driving motor 310 to the harmonic reducer 330.

The harmonic reducer 330 is formed on an upper end 211 of a circular frame of the forearm frame 210. The input shaft is connected to the power transmission belt 320 and the output shaft is connected to the forearm frame 210, Decelerates the transmitted rotational speed and increases the rotational force of the output shaft to increase the driving force.

In the present invention, the harmonic reducer 330 is composed of an inner ring rotated internally and an outer ring rotated from the outside, and is composed of elliptical wheels connected to each other and rotated, and the reduction ratio is formed at a ratio of 100: 1 .

Here, the reason why the harmonic speed reducer is used is that the precision is high due to the deceleration method in which the backlash is close to zero, so that it can be safely used and can be miniaturized, the center of the input shaft and the output shaft are the same, This is because a relatively large reduction ratio can be obtained.

The variable resistance sensor 340 is formed to abut the inner elbow with the wearer's elbow interposed between the upper end portion 211 of the forearm link coupled to the harmonic reducer 330 and the angle change and rotation speed of the elbow And transmits it to the microcomputer 234.

The upper arm position measuring unit 341 is formed to be in contact with the inner side surface of the upper arm in the form of a rectangular frame, and measures the movement of the forearm in a rectangular frame shape. And an elbow rotation sensor 343 formed between the upper arm position measuring unit 341 and the forearm position measuring unit 342 and measuring the rotation angle of the elbow.

In the present invention, the variable resistance sensor 340 senses the rotational speed of the forearm when the wearer touches the first switch 232a and the second switch 232b of the wrist protection frame, The link 100 and the forearm link 200 are in a straight line so that the angle of rotation is 0 ° and the wearer touches the arms and the wrist is contacted with the third switch 232c and the fourth switch 232d. Quot;). ≪ / RTI >

This allows the user to recognize the change in the angle of the elbow and the rotational speed according to the wearer's movement, thereby preventing the wearer from restricting the operation due to the mechanical action or performing the unnatural operation, and performing the smooth operation.

The motor drive reference display unit 350 is formed on the right side of the rear fixing unit 331 of the harmonic drive 330 so as to indicate a point at which the harmonic drive is initially operated as a reference point. And serves to measure and display the rotated rotation angle based on the reference.

The limit sensor first contact 351a is formed on the right side of the rear fixing part 331 of the harmonic drive 330 so as to set a reference point in operation of the wearable robot 1 and a zero point reference And a limit sensor second contact 252a is formed on the right side of the front rotation part 332 of the harmonic speed reducer 330 to detect contact with the zero point reference display part 351, And a zero reference bar 352 for preventing the elbow from being bent in the opposite direction due to a malfunction of the harmonic decelerator based on the zero reference display unit 351 is formed.

Here, the initial position of the joint part of the wearable robot is set through the origin sensor including the limit sensor first contact 251a and the limit sensor second contact 252a, and when the power is completely removed, the reference point, which is the initial position of the origin sensor, is returned.

The manual detachable part 360 is formed at one side of the lower surface of the harmonic reduction gear to engage and disengage the engaging part between the harmonic decelerator and the forearm link and includes a fixed plate 361, 363, and a move bolt 364.

The fixed plate 361 is formed in a square plate shape fixed to the upper surface of the rear fixing part 331 of the harmonic drive 330 and has an insertion groove 361a into which the key pin 363a can be inserted symmetrically .

The rotation plate 362 is formed on the upper surface of the front rotation part 332 of the harmonic drive 330 so as to be superimposed on the fixing plate 361 and has an insertion hole 362a Is formed.

The transverse plate 363 has a rectangular shape and is spaced apart from the front surface of the rotary plate 362. A hole through which the movable bolt 364 can be fixed is formed at the center of the transverse plate 363. A key pin 363- Are symmetrically inserted and formed.

The movable bolt 364 is coupled to a center hole of the transverse plate 363 and protrudes. An elastic spring 364-a is formed at the protruded portion to change the position of the transverse plate by pulling and rotating the wearer.

Hereinafter, the specific operation of the wearable robot for measuring the strength of the biceps of the upper arm according to the present invention and the elbow muscle strength using the elbow motion will be described.

First, the upper arm of the wearer is brought into close contact with the upper arm fixing device, and then the U-shaped left and right measuring devices are closely contacted with each other. Then, the elastic band is fastened to the tensile sensor, and the first and second velcro fasteners Wear a wearable robot.

Next, the position of the variable resistance sensor and the wrist sensing limit switch portion are adjusted using bolts and nuts according to the wearer's arm size, and the tensile sensitivity of the elastic measuring band of the muscle strength measuring device is adjusted to the standard value .

Next, when the power of the wearable robot is turned on, the joint portion of the wearable robot is automatically set to the initial position through the origin sensor of the zero reference display portion.

Next, when a force is applied to the arm of the wearer or the wrist or elbow moves, a muscle force measuring device, a variable resistance sensor, and a wrist motion detecting device detect the motion and transmit the detected motion to the microcomputer.

At this time, the microcomputer recognizes the behavior of the wearer based on the received data, grasps the intention, and helps the movement.

Finally, when the key pin is detached from the rotating plate by pulling the transplate, the driving force is removed by separating from the fixing plate, and control is possible only by the user's force.

100: upper arm link 110: upper arm frame
120: Muscular strength measuring device 130: upper arm fixing shoulder
200: forearm link 210: forearm frame
220: Forearm fixing band 230: Wrist motion detection device
300: joint part 310: drive motor
320: Power transmission belt 330: Harmonic reducer
340: Variable resistance sensor 350: Motor drive reference indicator
360: Passive /

Claims (6)

The upper arm frame 100 is fixed to the outer surface of the wearer's upper arm to sense the force acting on the wearer and to transmit the same to the microcomputer unit. A wearer's arm 100 is fixed on the upper end of the upper arm link 100 so as to surround the wearer's shoulders and the wearable robot 1 is fixed to the arm of the wearer. An upper arm link 100 made up of an upper arm fixed shoulder 130 for allowing the upper arm to be fixed,
A forearm link 200 which is fixedly supported on the outer surface of the forearm of the wearer and senses the movement of the wearer's wrist and transmits it to the microcomputer,
And is formed between the upper arm link 100 and the forearm link 200 to receive information on the angular change of the elbow and the rotational speed to convert the mechanical energy into mechanical energy to assist the wearer's muscular strength and to transmit the upper arm link and the forearm link A wearable robot for measuring the strength of the biceps brachiocephalic muscle, comprising a joint part (300) flexibly and mutually rotating, for enhancing an elbow muscle strength using an elbow motion,
The upper arm link 100 includes
A muscle strength measuring device 120 for measuring the use of the biceps brachii muscle by combining three elastic measurement bands 122 at regular intervals on both ends of a 'U' shape measuring device 121 formed on the inner surface of the upper arm frame, And a wearable robot for enhancing an elbow strength by using an elbow motion.
delete delete The method of claim 1, wherein the joint (300)
A driving motor 310 connected to the microcomputer 234 to receive the control signal and convert electrical energy into rotational energy,
A power transmission belt 320 connected to the driving shaft of the driving motor 310 and the rotation shaft of the harmonic reducer 330 to transmit the rotational force of the driving motor 310 to the harmonic reducer 330,
The input shaft is connected to the power transmission belt 320 and the output shaft is connected to the forearm frame 210 to reduce the rotational speed transmitted from the power transmission belt 210 A harmonic speed reducer 330 for increasing the driving force of the output shaft,
The micromir unit 234 is formed so as to be in contact with the inner elbow with the elbow of the wearer on the opposite side of the upper end 211 of the forearm link coupled with the harmonic reducer 330, A variable resistance sensor 340 for transmitting the variable resistance,
A motor drive reference display unit 350 formed on the right side of the harmonic drive 330 for displaying a point at which the harmonic drive is initially operated as a reference point,
And a passive detachable part (360) formed on one side of the lower surface of the harmonic decelerator for engaging and disengaging the coupling part between the harmonic decelerator and the forearm link. The wearable robot for measuring the strength of the biceps brachiocephalus using the elbow motion .
The motor driving apparatus according to claim 4, wherein the motor driving reference display unit (350)
A reference zero point display 351a is formed on the right side of the rear fixing part 331 of the harmonic drive 330 and a limit sensor first contact 351a is formed to set a reference point in operation of the wearable robot 1, (351)
The limit sensor second contact 252a is formed on the right side of the front rotation part 332 of the harmonic drive reducer 330 to detect the contact with the zero point reference display part 351 and stop the rotation operation. And a zero point reference bar 352 for preventing the bending in the opposite direction from the first direction and grasping the rotation angle of the harmonic decelerator based on the zero point reference display section 351. The measurement of the strength of the biceps of the upper arm and the movement of the elbow Wearable robots for strengthening elbow muscles.
The apparatus of claim 4, wherein the passive detachable portion (360)
A fixing plate 361 having a square plate shape fixed to the upper surface of the rear fixing part 331 of the harmonic drive 330 and having an insertion groove 361a into which the key pin 363a can be inserted symmetrically,
A rotation plate 362 formed to be superimposed on the upper surface of the front rotation part 332 of the harmonic drive 330 and coincident with the fixing plate 361 and having an insertion hole 362a through which the key pin can be inserted symmetrically on the front and rear surfaces, )Wow,
A hole is formed in a rectangular shape so as to be spaced apart from the front surface of the rotary plate 362 so that the movable bolt 364 can be fixed to the center of the rotary plate 362 and the key pin 363a projecting in the rear direction is symmetrically inserted, (363)
And a movable bolt 364 which is coupled to the center hole of the transverse plate 363 and is formed with an elastic spring 364a at the protruded portion to change the position of the transverse plate by pulling and rotating the wearer A wearable robot for strengthening the elbow muscular strength by measuring the strength of the biceps brachii and using the elbow motion.

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