KR101822946B1 - Wearable robot with flexible strap - Google Patents

Abstract

The present invention relates to a wearable robot, including: a body portion; a first link configured to be rotatable with respect to the main body; a second link configured to be rotatable about the first link; and a stretchable strap which is formed of a stretchable member, provided on the first link or the second link, and configured to wrap a corresponding moving part of a human body and transmit force of the first link or the second link to the corresponding moving part of the human body. Accordingly, the present invention is able to prevent occurrence of loosening when being worn, thereby suppressing occurrence of delay and error in detection.

Description

[0001] WEARABLE ROBOT WITH FLEXIBLE STRAP [0002]

The present invention relates to a wearing robot.

As is well known, the wearing robot means a robotic system combined with the wearer to additionally enhance and assist the wearer's strength.

The wearing robot includes links corresponding to the human body, and combines the corresponding moving parts of the human body with the respective links to transmit the force generated by the wearing robot to the corresponding parts of the human body.

1 is a view showing an example of a conventional wearing robot. 1, the wearing robot includes a main body 10, an inferior limb skeleton 20 provided at a lower portion of the main body 10 in correspondence with the lower limb of the human body, And an upper limb skeleton part 50 provided on the upper part of the main body part 10.

The lower limb skeleton part 20 includes a femoral link 25 rotatably connected to the main body part 10 and a lower link 35 connected to the femoral link 25 so as to be able to move relative to each other.

The lower limb exoskeleton 20 includes a hip joint 22 for connecting the femoral link 25 and a knee joint 32 for connecting the lower link 35.

The femoral link (25) is provided with a femoral strap (27) connecting the thigh of the human body with the femoral link (25).

The lower link 35 is provided with a lower strap 37 connecting the lower leg of the human body and the lower link 35.

The upper limb skeleton part 50 includes an upper link 55 that is rotatably provided in an upper region of the main body 10 and a horseshoe link 65 that is relatively movably coupled to the upper link 55. [ Respectively.

The upper extremity skeleton part 50 includes a shoulder joint part 52 for connecting the upper link 55 and an elbow joint part 62 for connecting the upper hub link 65.

The hawk link (65) is provided with a hawk strap (67) connecting the lower portion of the human body and the hawk link (65).

Each of the straps (27, 37, 67) is composed of a rigid member having a circular cross section or a circular arc cross section so as to cover a corresponding part of the human body and having rigidity.

However, in such a conventional wearing robot, each of the straps 27, 37, 67 has a rigid structure that receives a corresponding moving part of the human body and can transmit a force. When the wearing time elapses, The thickness of the wearer's muscles changes according to the exercise environment, and a clearance (s) is generated between the human body and the strap, so that the initial engagement state can not be maintained and the wearer is loosened.

In the case of controlling each link by providing a sensing unit for sensing the motion of the human body, if the straps (27, 37, 67) and the human body are loosened, there is a delay in sensing the movement intention of the wearer, .

If the detection delay and detection accuracy are deteriorated, it is difficult to precisely control each link, thereby giving resistance to the wearer, thereby increasing the fatigue of the wearer.

In particular, the resistance may be further increased to high-speed maneuvering, which may adversely affect the safety of the wearer.

KR 101384988 B1 (April 24, 2014). Announcement) KR 1020120059305 A (Jun. open)

Accordingly, it is an object of the present invention to provide a wearable robot that can suppress the occurrence of loosening when worn, and can suppress delay in detection and generation of errors.

It is another object of the present invention to provide a wearable robot which can control the link in response to the movement of the wearer and thereby alleviate the wearer's fatigue.

In order to achieve the above-mentioned object, the present invention is characterized by comprising: a main body portion; A first link rotatable with respect to the main body; A second link rotatable about the first link; And a stretchable strap which is formed of a stretchable member and is provided on the first link or the second link to wrap the corresponding moving part of the human body and transmit the force of the first link or the second link to the corresponding moving part of the human body To the robot.

In an embodiment, the stretchable strap may be configured to have a net shape.

In an embodiment, the stretchable strap includes a body; A fixing unit provided at one side of the body and fixed to the first link or the second link; And an engaging part provided on the other side of the body and detachably coupled to the fixing part of the body after the corresponding part of the body is wrapped.

In one embodiment, the stretchable strap may include a movement part sensing unit for sensing a change in tension or moment after wrapping the corresponding movement part of the human body.

In an embodiment, the stretchable strap may include a plurality of elastic bands, each of which surrounds different portions of the corresponding moving parts of the human body.

In some embodiments, a portion of the plurality of elastic bands may include a motion site sensing unit that senses a change in tension or moment after wrapping the corresponding motion site of the human body.

In an embodiment, the first link may be a femoral link extending downwardly of the body portion, and the second link may be a lower link coupled to the femoral link so as to be relatively movable.

In an embodiment, the first link is an upper link extending from the upper side of the main body, and the second link is a lower link linked to the upper link in a relative movement.

In an exemplary embodiment, the present invention may include a lower limb exoskeleton provided at a lower side of the main body and coupled to the lower limbs of the human body; And an upper limb skeleton portion provided on the upper side of the main body portion and coupled to an upper limb of the human body. The limb skeleton portion or the limb limb portion may include the first link and the second link.

As described above, according to one embodiment of the present invention, a stretchable strap, which is formed of a stretchable member on the first link or the second link and surrounds the corresponding moving part of the human body and transmits the force of the corresponding link to the corresponding moving part , The initial bonding force at the time of wearing can be continuously maintained and the occurrence of loosening can be suppressed.

In addition, by providing the stretching strap with a moving part detecting part capable of detecting a change in tension or moment of the moving part, it is possible to reduce delay and error in detection.

Further, by precisely detecting the motion intention of the wearer and controlling the link quickly, it is possible to reduce the resistance of the wearer, thereby significantly reducing the fatigue of the wearer.

1 is a view showing an example of a conventional wearing robot,
2 is a side view of a worn robot according to an embodiment of the present invention,
Fig. 3 is a front view of the wearing robot of Fig. 2,
Fig. 4 is an enlarged view of the telescopic strap of Fig. 3,
FIG. 5 is a view for explaining the action of the stretching strap and the movement sensing part of the wearing robot shown in FIG. 2;
Fig. 6 is a control block diagram of the wearing robot shown in Fig. 2,
7 is a side view of a worn robot according to another embodiment of the present invention;
Fig. 8 is a front view of the wearing robot shown in Fig. 7,
Fig. 9 is an enlarged view of the telescopic strap of Fig. 8,
FIG. 10 is a view for explaining the action of the stretching strap and the movement sensing part of the wearing robot shown in FIG. 7,
11 is a control block diagram of the wearing robot shown in Fig.

Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. In this specification, the same or similar reference numerals are given to the same or similar components in different embodiments, and the description thereof is replaced with the first explanation. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. In addition, it should be noted that the attached drawings are only for easy understanding of the embodiments disclosed in the present specification, and should not be construed as limiting the technical idea disclosed in the present specification by the attached drawings.

2 and 3, the wearable robot according to an embodiment of the present invention includes a main body 110; A first link 125 rotatable with respect to the main body 110; A second link (135) rotatable about the first link (125); And is provided on the first link 125 or the second link 135 so as to surround the corresponding moving part of the human body and to transmit the force of the first link 125 or the second link 135 to the human body And a stretchable strap 145 for transmitting the stretched strap 145 to the corresponding moving part of the strap 145.

The main body 110 can be configured to be worn on the upper part of the human body, for example.

The main body 110 may be configured to be worn on, for example, a waist, a back, and a shoulder.

Although not shown specifically in the drawing, the main body 110 may be provided with a saddle band (shoulder strap) coupled to the shoulder and a saddle coupled to the waist.

The main body 110 may include a power generating unit 115, for example.

The power generation unit 115 may include, for example, a battery capable of supplying power to the electric component.

The power generating unit 115 may be configured to include, for example, a hydraulic pressure generator so as to provide hydraulic pressure (pressurized oil) to the hydraulic driving component.

For example, a lower limb skeleton part 160 may be provided under the main body part 110.

The lower limb exoskeleton 160 includes a femoral link 165 that is relatively movably coupled to a lower portion of the main body 110 and a lower link 165 that is relatively movably coupled to the femoral link 165. [ 175).

The hip joint 162 may be provided on both lower sides of the main body 110 so that the hip joint 165 is rotatably coupled.

The hip joint portion 162 may be provided with, for example, a femoral link driving portion 167 for rotating the femoral link 165.

The femoral link driver 167 may be implemented as an electric motor, for example.

A knee joint or a knee joint 172 (hereinafter referred to as "knee joint 172") may be provided between the femoral link 165 and the lower link 175.

The knee joint part 172 may be provided with a lower link driving part 177 for rotating the lower link 175, for example.

The lower link driver 177 may be implemented by an electric motor, for example.

In this embodiment, although not shown in detail in the drawings, the ankle link may be provided on the lower link 175 so as to be relatively movable. An ankle joint may be provided between the lower link 175 and the ankle link. The ankle joint part may include an ankle joint link driving part for driving the ankle joint link.

Meanwhile, an upper limb skeleton part 190 may be provided on the upper part of the main body part 110.

The upper limb skeleton part 190 includes an upper limb link 195 provided to be relatively movable on the upper part of the main body part 110 and a lower limb link 195 which is relatively movably coupled to the upper limb link 195, (Not shown).

The first link 125 may be the femoral link 165 and / or the upper link 195.

The second link 135 may be the lower link 175 and / or the hawk link 205.

The wearable robot of the present embodiment exemplifies the case where the upper limb skeleton part 190 is provided on the upper part of the main body part 110 and the lower limb skeletal part 160 is provided on the lower part of the main body part 110. However, And an upper limb exoskeleton robot having only an upper limb exoskeleton 190 on the upper part of the main body 110. [

It is needless to say that the wearable robot of the present embodiment may be embodied as a base exoskeleton robot provided with only the base exoskeleton 160 at the lower portion of the main body 110. [

On the other hand, the first link 125 or the second link 135 may be provided with a stretching strap 145.

The stretchable strap 145 may include, for example, a femoral link stretching strap 168 provided on the femoral link 165.

The stretchable strap 145 may include, for example, a lower link stretching strap 178 provided on the lower link 175.

The stretchable strap 145 may have, for example, an overhang stretchable strap 208 provided on the overhang link 205.

The femoral link extension and contraction strap 168 is formed of, for example, a flexible member or a stretchable member (hereinafter referred to as a "stretchable member"), one side of which is coupled to the femoral link 165, As shown in FIG.

The lower link stretching strap 178 may be formed of, for example, a stretching member, one side of which is coupled to the lower link 175, and the other side of which is configured to wrap the lower leg (calf) of the human body.

The hub link stretchable strap 208 may be formed of, for example, a stretchable member, one side of which is coupled to the toe hook link 205, and the other side of which is configured to surround the lower portion (forearm) of the human body.

Each of the stretchable and contractible straps 168, 178, 208 may be formed in a net shape, for example.

Each of the stretchable belts 168, 178, and 208 includes, for example, a body 151 as shown in FIG. 4; A fixing part 157 provided at one side of the body 151 and fixed to the first link 125 or the second link 135; And an engaging portion 158 provided at the other side of the body 151 and detachably coupled to an outer surface of the body 151 after surrounding the corresponding moving portion of the body.

The body 151 may be embodied, for example, in a net shape.

More specifically, the body 151 may include a support portion 154 having a relatively large rigidity to support the net portion 152 and the net portion 152.

The net-shaped portion 152 may be formed using, for example, a flexible thread, a cord or a wire.

As a result, it is possible to adhere to the wearer's body, and the occurrence of loosening after wearing can be suppressed.

The net-shaped portion 152 may be configured to have a strength enough to transmit the force of the robot to the human body, for example.

The thread, cord or wire of the netting portion 152 may be made of a somewhat stretchable material provided that it has a strength capable of transmitting the force of the wearing robot to the human body.

A fixing part 157 for fixing the body 151 to the first link 125 or the second link 135 may be formed on one side of the body 151. [

In the present embodiment, the supporting portions 154 are provided on the upper and lower sides of the wire, respectively, and the fixing portion 157 may be formed on one side (left side in the drawing) of the body 151.

The first link 125 and the second link 135 are coupled to an outer surface of the body 151 by wrapping a moving part of a human body corresponding to the first link 125 or the second link 135, (158) may be formed.

The coupling portion 158 may be embodied as a hook and loop fastener or a velcro tape (hereinafter referred to as "Velcro tape"), have.

The coupling portion (the Velcro tape) 158 may include, for example, a first member 159a in the form of a hook (hook) and a second member 159b in the form of a hook (loop).

More specifically, for example, the first member 159a is coupled to the inner surface of one end of the body 151, and the second member 159b is coupled to the outer surface of one end of the body 151 .

The second member 159b may have a larger size (length in a wrapping direction) than the first member 159a.

Thus, the length can be appropriately adjusted according to the size (length) of the wearer's body (circumference).

On the other hand, the stretching strap 145 may include a moving part detecting unit 215 for detecting a change in tension or moment after wrapping the corresponding moving part of the human body.

The moving part sensing unit 215 may be provided at the fixed part 157 of the stretchable strap 145, for example.

The moving part sensing unit 215 may include a plurality of moving part sensing units 215 spaced from each other along the longitudinal direction of the fixing unit 157 of the stretching strap 145, for example.

Accordingly, it is possible to precisely detect the degree of motion of the wearer by sensing the movement part of the human body after the wear through the plurality of sensing parts arranged.

The movement part sensing unit 215 may include a femoral motion sensing part 220 provided at the fixing part 157 of the femoral link extensible and elastic strap 168.

The movement part sensing unit 215 may include a hypotenuse movement sensing part 230 provided at the fixing part 157 of the lower link stretching strap 178, for example.

The moving part sensing unit 215 may include a lowered hollow sensing part 240 provided at the fixing part 157 of the lifting link stretching strap 208, for example.

The motion part sensing unit 215 may include a plurality of sensing units.

A thread, a string or a wire of the body 151 may be connected to each of the plurality of sensing units.

Accordingly, when the stretchable strap 145 is worn, a change in tension and / or moment due to movement of a moving part (muscles) of the human body can be sensed.

Meanwhile, the wearable robot of the present embodiment may include a control unit 210 having a control program and implemented in the form of a microprocessor, for example, as shown in FIG.

The control unit 210 controls the femoral link 165 and the femoral link 172 based on the detection result of the femoral motion extension sensor 220 of the femoral link extension and contraction strap 168 coupled to the femoral link 165, And the like.

The controller 210 controls the lower link 175 and the lower link 175 based on the detection result of the lower limb movement sensor 230 of the lower link stretchable strap 178 coupled to the lower link 175 to wrap the lower limb 175, And the like.

The control unit 210 may control the operation of the harness link 210 based on the detection result of the lower bunk fastening sensor unit 240 of the harness link stretchable strap 208 coupled to the harness link 205 to be wrapped around the harvesting link 205, 205 in response to the control signal.

The control unit 210 may controllably connect the lower link driving unit 177 to control the motion of the lower link 175.

The control unit 210 can controllably connect the bottom link driving unit 207 so as to control the motion of the top hook link 205. [

With the above configuration, the leg-like exoskeleton 160 and the superior-limb exoskeleton 190 are attached to the corresponding body parts of the wearer using the stretching straps 168, 178, 208 in a state where the body part 110 is coupled to the waist and the back, Respectively.

The engaging portion 158 of the lower link stretching strap 178 may be engaged with the lower linking strap 178 in a state in which the lower link 175 is disposed on the outer surface of the lower leg portion of the wearer, The first member 159a is pulled out of the second member 159b on the outer surface of the body 151 while pulling the end portion of the engaging portion 158 outward so that an appropriate fastening force can be exerted after wrapping along the circumference of the lower leg. .

Since the stretchable strap 145 of the present embodiment has flexibility and stretchability, it is easy to adhere to the body of the wearer and the initial contact state is maintained even if the wearing time elapses, so that the occurrence of loosening can be suppressed.

When the wearer starts the operation in a state where the respective stretchable straps 168, 178 and 208 are fully engaged, the control unit 210 controls the movement part sensing unit 215 (the thigh movement sensor unit 220, the hip joint movement sensor unit 230), and a lower-back motion detecting unit (240)), a change in the tension or moment of the corresponding moving part of the human body can be detected.

5, when the femoral link 165 and the lower link 175 initiate relative movement around the hip joint 162 and the knee joint 172, respectively, Can detect a change in the tension or moment acting on each wire according to the change of the muscles of the human body.

The control unit 210 can predict the motion of the wearer based on the detection result of the motion detecting unit 215 and control the link so that the wearer can follow the wearer's movement quickly.

Thus, the wearing robot of the present embodiment can reduce the resistance to be applied to the wearer, thereby alleviating the fatigue of the wearer.

Hereinafter, the wearing robot of another embodiment of the present invention will be described with reference to Figs. 7 to 11. Fig.

As shown in Figs. 7 and 8, for example, the wearing robot of the present embodiment includes a main body 110; A first link 125 rotatable with respect to the main body 110; A second link (135) rotatable about the first link (125); And is provided on the first link 125 or the second link 135 so as to surround the corresponding moving part of the human body and to transmit the force of the first link 125 or the second link 135 to the human body And a stretchable strap 245 for transmitting the stretched strap 245 to the corresponding moving part of the strap 242.

The main body 110 may include a power generating unit 115.

The power generating unit 115 may include a battery.

A lower limb exoskeleton 160 may be provided under the main body 110.

The lower limb exoskeleton 160 includes a femoral link 165 that is coupled to the lower portion of the main body 110 so as to be relatively movable and a lower link 175 that is coupled to the femur link 165 to be relatively movable. can do.

A hip joint 162 may be provided on the lower portion of the main body 110.

The hip joint portion 162 may be provided with a femoral link driving portion 167 for rotating and driving the femoral link 165.

The femoral link driver 167 may be implemented as an electric motor.

A knee joint 172 may be provided between the femoral link 165 and the lower link 175.

The knee joint part 172 may be provided with a lower link driving part 177 for rotating the lower link 175.

The lower link driver 177 may be implemented as an electric motor.

An upper limb skeleton part 190 may be provided on the upper part of the main body part 110.

The upper limb exoskeleton 190 may include an upper link 195 which is relatively movably coupled to an upper portion of the main body and a lower link 205 which is relatively movably coupled to the upper link 195 .

A shoulder joint 192 may be provided on the upper portion of the main body 110.

The shoulder joint portion 192 may be provided with an upper link link driving unit for rotating the upper link 195.

The upper link link driver may be implemented as an electric motor.

An elbow joint 202 may be provided between the upper link 195 and the hub link 205.

The elbow joint portion 202 may be provided with a bottom link driving portion 207 for rotating the top hook link 205.

The hub link drive unit 207 may be implemented as an electric motor.

Meanwhile, the first link 125 or the second link 135 may be provided with a stretching strap 245.

The first link 125 may be the femoral link 165 and the upper link 195.

The second link 135 may be the lower link 175 and the hawk link 205.

The stretchable strap 245 may include a femoral link extensible strap 268 provided on the femoral link 165.

The stretchable strap 245 may include a lower link stretching strap 278 provided with the lowering ring.

The stretchable strap 245 may include an upper link stretching strap 298 provided on the upper link 195.

The stretchable strap 245 may include an overhang stretchable strap 308 provided on the overhang link 205.

The stretchable strap 245 may include a plurality of elastic bands 250, for example, arranged to surround different moving parts of the human body.

Thus, it is possible to suppress the occurrence of loosening when worn, despite the difference in shape and size of the wearer's body.

9, each of the plurality of elastic bands 250 includes a body 251 (elastic member) which is formed of a stretchable member (elastic member) and covers a moving part of the body so as to be able to transmit a force to the body A fixing part 257 formed at one side of the body 251 to fix the body 251 to the link 254 and a fixing part 252 formed at the other side of the body 251 to cover the moving part of the body, And a coupling portion 258 coupled to an outer surface of the body 251. [

The engaging portion 258 may be made of, for example, a Velcro tape.

The coupling portion 258 may include a first member 259a having a hook and a second member 259b having a hook to which the hook is coupled.

The first member 259a may be provided on the inner surface of the end portion of the body 251 and the second member 259b may be provided on the outer surface of the end portion of the body 251. [

The second member 259b may have a longer length than the first member 259a.

Thus, the length can be appropriately adjusted to correspond to the circumference of the moving part of the human body.

Meanwhile, the stretching strap 245 may include a moving part detecting unit 215 for detecting a change in tension or moment after wrapping the corresponding moving part of the human body.

The motion detecting unit 215 may be included in all of the plurality of elastic bands 250, for example.

Thus, the moving part of the human body of the wearer can be segmented and sensed, and the detection precision can be enhanced.

The motion detecting unit 215 may be provided in a part of the plurality of elastic bands 250, for example.

The movement part sensing unit 215 may include a femoral motion sensing part 220 provided on the femoral link extension and contraction strap 268.

The movement part sensing unit 215 may include a lower movement sensor unit 230 provided on the lower link stretching strap 278.

The movement part sensing unit 215 may include an upper cheekbones sensation part 245 provided in the upper link stretching strap 298. [

The moving part sensing unit 215 may include a downward movement detecting part 240 provided on the lifting link stretching strap 308.

Meanwhile, as shown in FIG. 11, the wearable robot of the present embodiment may include a control unit 210 having a control program and implemented as a microprocessor.

The controller 210 may be configured to sense a change in tension or moment of a moving part of a human body and to control the movement of the link.

More specifically, the control unit 210 may be configured to control the movement of the femoral link 165 based on the detection result of the femoral motion sensor unit 220 provided on the femoral link expansion and contraction strap 268 have.

The control unit 210 may be configured to control the motion of the lower link 175 based on the detection result of the lower movement sensor unit 230 provided on the lower link stretchable strap 278.

The control unit 210 may be configured to control the motion of the upper link 195 based on the detection result of the lower limb motion detector 245 provided on the upper limb link stretching strap 298.

The control unit 210 may be configured to control the motion of the hawk link 205 based on the detection result of the lower bound motion detection unit 240 provided on the hub link extension and contraction strap 308.

The control unit 210 may be controllably connected to the femoral link driver 167.

The lower link driving unit 177 may be controllably connected to the control unit 210.

The upper link link driver 197 may be controllably connected to the controller 210. [

The control unit 210 may be controllably connected to the hub link drive unit 207.

With the above-described configuration, the legs 160 and the upper limb exoskeleton 190 are attached to the corresponding body parts of the wearer using the stretching straps 268, 278, 298, 308 in a state where the body part 110 is coupled to the waist and back, Respectively.

The lower link stretching strap 278 may be provided on the outer side of the wearer's lower leg portion such that the lower link stretching strap 278 has the same length as the lower link stretching strap 278, The first member 259a of the elastic band 250 is pulled outward while the end of the engaging part 258 is pulled out so that an appropriate fastening force can be exerted after the engaging part 258 is sequentially wrapped around the lower leg part, To the second member 259b of the outer surface of the body 251 of the elastic band 250 in order.

Since the stretchable strap 245 of this embodiment has flexibility and stretchability, it is easy to adhere to the body of the wearer and the initial contact state can be maintained even if the wearing time elapses, so that the occurrence of loosening can be suppressed.

When the wearer starts the operation in the state where the respective stretching straps 268, 278, 298 and 308 are fully engaged, the control unit 210 controls the movement part sensing unit 215 (the thigh movement sensor unit 220, 230), the lower-back motion detection section (240), and the upper limb motion detection section (245)), a change in the tension or moment of the corresponding moving part of the human body can be detected.

10, when the femoral link 165 and the lower link 175 start relative movement about the hip joint 162 and the knee joint 172, respectively, It is possible to detect a change in a tension or a moment acting on each of the elastic bands 250 in accordance with a change in muscles of the human body.

The control unit 210 can predict the motion of the wearer based on the detection result of the motion detecting unit 215 and control the corresponding links so that the wearer can follow the wearer's movement quickly.

As a result, the wearing robot of the present embodiment significantly reduces the resistance to the wearer, thereby significantly reducing the fatigue of the wearer.

The foregoing has been shown and described with respect to specific embodiments of the invention. However, the present invention may be embodied in various forms without departing from the spirit or essential characteristics thereof, so that the above-described embodiments should not be limited by the details of the detailed description.

Further, even when the embodiments not listed in the detailed description have been described, it should be interpreted broadly within the scope of the technical idea defined in the appended claims. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

110: main body part 115: power generating part
125: first link 135: second link
145,245: Extension strap 151,251: Body
157, 257: Fixing portions 158, 258:
159a, 259a: first member 159b, 259b: second member
160: Exoskeletal part
162: Hip joint 165: Femoral link
167: a femoral link driving part 168, 268: a femoral link stretching strap
172: knee joint 165: lowered link
177: Lower link driving part 178, 278: Lower link stretching strap
190: upper extremity exoskeleton part
192: shoulder joint 195: supine link
197: upper-limb link driver 202: elbow joint
205: Habakkuk link 207: Habakkus link driver
208,308: Haikuminku stretch strap
210: control unit 215:
220: femoral motion sensing part 230: hypotonic motion sensing part
240: Ha-bakbu-hwan donggeum branch 245:
250: Elastic band
298: Upper link stretch strap

Claims (9)

A body portion;
A first link rotatable with respect to the main body;
A second link rotatable about the first link; And
And a stretchable strap which is formed of a stretchable member and is provided on the first link or the second link to wrap the corresponding moving part of the human body and transmit the force of the first link or the second link to the corresponding moving part of the human body, ,
The stretchable strap,
A body including a net portion surrounding the corresponding moving portion of the human body and a support portion extending to support the net portion at both ends thereof;
A fixing unit provided at one side of the body and fixed to the first link or the second link; And
And a moving part detecting unit which detects a change in a tension or a moment after wrapping the corresponding moving part of the human body and includes a plurality of moving part detecting units spaced from each other along the longitudinal direction. delete The method according to claim 1,
The stretchable strap,
And a coupling part provided on the other side of the body and detachably coupled to the fixed part of the body after the corresponding part of the body is wrapped. delete delete delete The method according to claim 1 or 3,
Wherein the first link is a femoral link extending to a lower side of the main body and the second link is a lower link coupled to the femoral link so as to be relatively movable. The method according to claim 1 or 3,
Wherein the first link is an upper link extending from the upper side of the main body and the second link is a lower link linked to the upper link in a relative movement manner. The method according to claim 1 or 3,
A lower limb exoskeleton provided on the lower side of the main body and coupled to the lower limbs of the human body; And
And an upper limb skeleton portion provided on the upper side of the main body portion and coupled to an upper limb of the human body,
Wherein the lower extremity skeleton portion or the upper extremity skeleton portion includes the first link and the second link.

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