KR101855002B1

KR101855002B1 - Joint assistant apparatus for exoskeleton robots

Info

Publication number: KR101855002B1
Application number: KR1020160149351A
Authority: KR
Inventors: 백윤수; 한종인; 심명훈
Original assignee: 연세대학교 산학협력단
Priority date: 2016-11-10
Filing date: 2016-11-10
Publication date: 2018-06-14

Abstract

According to the present invention, a joint assistant apparatus for an exoskeleton robot comprises: a support unit supporting a joint portion of a human body to assist movement; a prop unit supporting sagging caused by a self-load applied to the support unit; and an adjustment unit adjusting a support distance of the joint portion with respect to the support unit. Moreover, a rotating axis of the support unit is the same as another rotating axis of the joint portion of the human body. According to the configuration, the rotating axis of the support unit on which the joint portion of the human body is put is the same as the other rotating axis of the joint portion of the human body to enable stable movement to be performed.

Description

[0001] JOINT ASSISTANT APPARATUS FOR EXOKELETON ROBOTS [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an articulation assist device for an exoskeleton robot, and more particularly, to an articulation assist device for an exoskeletal robot capable of improving driving stability by matching the rotation axis of a human body.

Due to factors such as an increase in the elderly population, the research and development of physical aids are continuously increasing. As an example of such a physical assistive device, the exoskeleton robot is a kind of wearable robot which is a device for increasing the muscle strength by attaching a robot arm or leg to a person.

On the other hand, the importance of HRI (Human-Robot Interaction) technology has been emphasized due to the emergence of exoskeleton robots. In particular, in the case of a robot applied to the joint region of a human, the rotational axis of the joint region is not coincident with the rotational axis of the robot, thereby making it difficult to secure the driving stability. Moreover, the user's inconvenience is caused by the weight of the robot, which hinders commercialization of the exoskeleton robot.

Accordingly, researches have been made on techniques that can improve the stability in order to prevent the injured user who uses the exoskeleton robot in recent years.

Korean Patent Application No. 2014-0005453 Korean Patent Application No. 2015-0007895

SUMMARY OF THE INVENTION An object of the present invention is to provide an articulation aid for an exoskeleton robot capable of improving driving stability by matching the rotation axis of an auxiliary device to a joint rotation axis of a human body.

It is another object of the present invention to provide a joint assist device for an exoskeleton robot that is excellent in response to various body sizes.

According to an aspect of the present invention, there is provided a joint support device for an exoskeletal robot, comprising: a support unit for supporting a joint part of a human body by supporting a joint; a support unit for supporting sag due to its own weight applied to the support unit; And a control unit for controlling the support distance of the joint part with respect to the support unit. The rotation axis of the support unit and the rotation axis of the joint part of the human body are aligned with each other.

According to one aspect, the supporting unit includes a first pedestal supporting the sole of the human body and a second pedestal extending from the first pedestal so as to be in close contact with the heel of the human body in the vertical direction, And the joint axis between the first and second pedestals can coincide with the rotation center of the ankle joint of the human body in the rolling and pitching axis directions.

According to one aspect of the present invention, the supporting unit may include an upper portion for transmitting the weight applied to the supporting unit to the ground, and an elastic portion for absorbing the weight by elastically supporting the load portion.

According to one aspect of the present invention, the load portion includes a frame extending in the yaw axis direction from the support unit, and the elastic portion extends from the load portion in the yaw axis direction, And a second elastic member interposed between the first elastic member and the ground to elastically support a load applied to the first elastic member.

According to one aspect, the first elastic member includes a compression coil spring, and the second elastic member may include an elastic body formed of any one of the rubber or the urethane material.

According to one aspect of the present invention, the load portion includes a frame extending in the yaw axis direction from the support unit, and the elastic portion extends from the load portion in the yaw axis direction, The elastic member and the surface in contact with the paper have a hemispherical shape and are interposed between the elastic member and the paper surface so as to support the load applied to the elastic member.

According to one aspect of the present invention, the adjusting unit includes a first adjusting unit for adjusting a supporting distance for supporting the joint part of the human body with respect to the supporting unit in a yaw axis direction, A second adjustment unit for adjusting the length in the axial direction of the support unit, and a third adjustment unit for adjusting the length of the support unit in the roll axis direction with respect to the support unit.

According to one aspect of the present invention, the first adjustment portion includes a first adjustment link extending in the yaw axis direction with respect to the support unit and connected to the support unit, and a second adjustment link extending in the yaw axis direction, At least one first adjusting member inserted in the first adjusting hole so as to be movable in the yaw axis direction and cooperating with the first adjusting hole to adjust the supporting distance in the yaw axis direction, . &Lt; / RTI >

According to one aspect of the present invention, the second adjusting portion includes a second adjusting link extending in the pitch axis direction between the supporting unit and the supporting unit, a second adjusting link formed in the pitch adjusting shaft, Hole and a second adjusting member inserted in the second adjusting hole so as to be movable in the pitch axis direction and interlocking with the second adjusting hole to adjust the supporting distance in the pitch axis direction, can do.

According to one aspect of the present invention, the third adjusting portion includes a third adjusting link extending in the roll axis direction between the receiving unit and the adjusting unit, a third adjusting link extending from the third adjusting link to the third adjusting link, And at least one third adjusting member inserted in the third adjusting hole so as to be movable in the roll axis direction and interlocking with the third adjusting hole to adjust the supporting distance in the roll axis direction, .

According to one aspect of the present invention, one end of the first adjusting link may be connected to the supporting unit, and the other end may be connected to a reinforcing frame extending in the yaw axis direction and supporting the second adjusting unit.

According to one aspect of the present invention, one end of the second adjusting link may be connected to a reinforcing frame extending from the supporting unit in the direction of the yaw axis, and the other end may be connected to a connection frame interconnecting the supporting unit and the supporting unit.

According to an aspect of the present invention, a connection frame for interconnecting the support unit and the support unit may be included, and the third adjustment link may extend in the roll axis direction between the connection frame and the support unit.

According to one aspect, the supporting unit may be provided with a strap for fixing the joint part.

According to another aspect of the present invention, there is provided a joint support apparatus for a robot, comprising: a support unit on which a joint part of a human body is placed; a support unit for transmitting a weight applied to the support unit to the ground, And a control unit for controlling the rotation axis of the support unit to coincide with the rotation axis of the joint part of the human body.

According to one aspect of the present invention, the supporting unit includes a first pedestal having an area extending in a rolling and pitching axis direction and supporting the sole of the human body, and a second pedestal supporting the first pedestal from the first pedestal And a second pedestal extending in the yaw axis direction, wherein a joint axis between the first pedestal and the second pedestal includes a rolling center of the ankle joint of the human body and a center of rotation about a pitching axis direction Can be matched.

According to one aspect of the present invention, the support unit includes: an upper portion that extends in the yaw axis direction adjacent to the second pedestal and transmits the weight to the ground; and a second weight that elastically supports the weight applied to the load portion between the upper portion and the ground Wherein the elastic portion comprises a first elastic member extending from the load portion in the yaw axis direction and having a support shaft therein, and a second elastic member interposed between the first elastic member and the ground, And a second elastic member for elastically supporting a load applied to the elastic member.

According to one aspect of the present invention, the support unit includes: an upper portion that extends in the yaw axis direction adjacent to the second pedestal and transmits the weight to the ground; and a second weight that elastically supports the weight applied to the load portion between the upper portion and the ground Wherein the elastic portion includes an elastic member extending in the direction of the yaw axis from the load portion and having a support shaft therein, and an elastic member having a semi-spherical surface in contact with the ground, And may include a support member interposed therebetween to support a load applied to the elastic member.

According to one aspect of the present invention, the adjustment unit includes a first adjustment unit that adjusts a support distance for supporting the joint region of the human body with respect to the support unit in the direction of the yaw axis, And a third adjuster for adjusting the length of the support unit in the roll axis direction with respect to the support unit.

According to one aspect of the present invention, the first adjuster is connected to the reinforcement frame having one end connected to the support unit and the other end extending in the yaw axis direction and supporting the second adjuster, A first adjustment hole formed in the first adjustment link so as to penetrate through at least one of the first adjustment link in the direction of the yaw axis and a second adjustment hole formed in the first adjustment hole so as to interconnect the first adjustment link and the reinforcing frame through the first adjustment hole, And at least one first adjusting member inserted in the first adjusting hole to be movable in the yaw axis direction along the yaw axis direction to adjust the supporting distance in the yaw axis direction.

According to one aspect of the present invention, the second adjuster is connected to a reinforcing frame extending from the second pedestal in the yaw axis direction, and the other end is connected to a connection frame for interconnecting the support unit and the support unit. A second adjusting hole extending in the pitch axis direction, a second adjusting hole formed in the second adjusting link at least one in the pitch axis direction, and a second adjusting hole passing through the second adjusting hole and between the second adjusting link and the connecting frame And at least one second adjusting member inserted into the second adjusting hole to adjust the supporting distance in the pitch axis direction so as to be movable in the pitch axis direction along the second adjusting hole have.

According to one aspect of the present invention, the third adjusting portion is connected to the connecting frame connecting one end of the supporting unit and the supporting unit, and the other end of the third adjusting link is connected to the supporting unit. A third adjusting hole formed in the third adjusting link so as to pass through at least one roll axis direction and a third adjusting hole passing through the third adjusting hole so as to interconnect the third adjusting link and the connecting frame, And at least one third adjusting member inserted in the third adjusting hole so as to be movable in the roll axis direction along the roll axis direction to adjust the supporting distance in the roll axis direction.

According to the present invention having the above-described structure, first, the rotation axis of the supporting unit on which the joint part of the human body is placed is coincident with the rotation axis of the joint part of the human body, so that the joint part can be stably operated.

Second, since the stable operation is assisted, the wearability of the user can be improved.

Third, it is possible to support the deflection due to the weight applied to the support unit, thereby canceling the moment applied to the joint part.

1 is a perspective view schematically showing a joint auxiliary device for an exoskeletal robot according to a preferred embodiment of the present invention.
FIG. 2 is an exploded perspective view schematically illustrating an articulated joint for an exoskeletal robot shown in FIG. 1; FIG.
FIG. 3 is a schematic view illustrating the operation of the support unit shown in FIG. 1. FIG.
FIG. 4 is a plan view schematically showing the joint supporting device for the exoskeletal robot shown in FIG. 1. FIG.
FIG. 5 is a front view schematically showing the joint auxiliary device for the exoskeletal robot shown in FIG. 1. FIG.
FIG. 6 is a side view schematically showing the joint assist device for the exoskeletal robot shown in FIG. 1. FIG. And,
FIG. 7 is a side view schematically showing a modified example of the joint support device for the exoskeletal robot shown in FIG. 1. FIG.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. However, the spirit of the present invention is not limited to such embodiments, and the spirit of the present invention may be proposed differently by adding, modifying and deleting constituent elements constituting the embodiment, .

1 and 2, a joint auxiliary apparatus 1 for an exoskeletal robot according to a preferred embodiment of the present invention includes a support unit 10, a support unit 20, and a control unit 30. As shown in FIG.

FIG. 1 is a perspective view schematically showing a joint auxiliary apparatus 1 for an exoskeletal robot according to a preferred embodiment of the present invention. FIG. 2 is a schematic view of the joint assist apparatus 1 for an exoskeletal robot shown in FIG. As shown in Fig.

For reference, the joint assist device 1 for an exoskeletal robot described in the present invention is applied to an exoskeletal robot, which is a physical assist device, and more specifically, to an exoskeleton robot that is applied to an ankle (A) of a human body to assist rigidity. As shown in FIG. 1, the ankle (A) of the human body has three freely rotatable joints around the pitch, roll and yaw axes, It rarely happens. That is, the ankle (A) of the human body is a joint which is rotationally driven when walking on the pitch and the roll axis.

The supporting unit 10 supports the ankle A of the human body and reinforces the driving force of the ankle A. [ The supporting unit 10 includes a first pedestal 11 and a second pedestal 12 to assist the operation of the ankle A. [

The first pedestal (11) supports the sole of the human body. The first pedestal 11 is a frame having a plate shape extending in the roll and pitch axes directions, that is, extending horizontally with respect to the sole. The first pedestal 11 is provided with a latching protrusion 13 protruding in the vertical direction so that the heel can be closely attached thereto.

The second pedestal 12 extends vertically upward from the first pedestal 11 so as to come into close contact with the calf extending from the heel of the human body. That is, the second pedestal 12 is a frame extending from the first pedestal 11 in the yaw axis direction. The second pedestal 12 may be joined by a joining method such as bolting to the first pedestal 11. [

Although not shown in detail, the supporting unit 10 may include at least one strap for fixing the ankle A. [

The support unit (20) supports sag due to its own weight applied to the support unit (10). The support unit 20 includes a load portion 21 and an elastic portion 22. [

3, the loading portion 21 transfers the weight of the weight applied in the vertical downward direction, that is, the yaw axis direction, from the supporting unit 10 to the paper surface G. As shown in Fig. The loading section (21) includes a frame extending in the yaw axis direction with respect to the supporting unit (10). That is, the loading section 21 extends in the yaw axis direction and is connected to the second pedestal 12 of the receiving unit 10 by the connecting frame 23.

For reference, one end of the connection frame 23 has a shape bent in a? -Shaped shape such that it extends in the pitch axis direction and the other end extends in the roll axis direction.

The elastic portion 22 elastically supports the load portion 21 in the vertical direction, which is the yaw axis direction, and absorbs its own weight. The elastic portion 22 includes first and second elastic members 24 and 25 as shown in Figs.

The first elastic member 24 extends vertically downward from the load portion 21, and a support shaft 26 is embedded therein. The first elastic member 24 includes a compression coil spring, and is compressed or tensioned by a load to absorb impact.

The second elastic member 25 is interposed between the first elastic member 24 and the ground so as to elastically support a load applied to the first elastic member 24. The second elastic member 25 is an elastic member formed of any one of elastic materials such as rubber or urethane, and elastically supports the first elastic member 24 by a repulsive force from the ground.

The adjustment unit 30 adjusts the support distance of the ankle A of the human body with respect to the support unit 10. [ That is, the adjustment unit 30 adjusts the yaw, pitch, and distance of the ankle A supported by the support unit 10 with respect to the roll axis direction, thereby matching the joint positions of the ankle A with respect to each person. 4 to 6, the adjusting unit 30 includes a first adjusting unit 40, a second adjusting unit 50, and a third adjusting unit 60. [

4 is a plan view schematically showing the joint supporting apparatus 1 for an exoskeletal robot according to the present embodiment, FIG. 5 is a front view schematically showing the joint supporting apparatus 1 for an exoskeletal robot, and FIG. 6 is a side view schematically showing the joint support device 1 for an exoskeletal robot.

5 and 6, the first adjuster 40 adjusts the support distance of the ankle A with respect to the support unit 10 in the yaw axis direction corresponding to the height of the ankle A. As shown in Figs. For this purpose, the first adjusting part 40 includes a first adjusting link 41, a first adjusting hole 42 and a first adjusting member 43.

The first adjustment link 41 extends in the yaw axis direction from the support unit 10. [ One end of the first adjusting link 41 is connected to the second pedestal 12 of the receiving unit 10 and the other end of the first adjusting link 41 has a straight frame shape extending in the yaw axis direction. At this time, the other end of the first adjusting link 41 is connected to a reinforcing frame 44 for supporting a second adjusting portion 50 to be described later. Here, the reinforcing frame 44 has a shape extending in the yaw axis direction.

The first adjustment hole 42 is formed through at least one of the first adjustment link 41 in the yaw axis direction. In the present embodiment, two first adjustment holes 42 are shown to be parallel to each other and to have a predetermined length in the yaw axis direction and to pass through the first adjustment link 41. However, the present invention is not limited to this, and a plurality of first adjustment holes 42 may be provided in parallel to the first adjustment link 41 in the yaw axis direction, Various types of modifications are possible.

The first adjusting member 43 is inserted into the first adjusting hole 42 so as to be movable in the yaw axis direction and is moved along the first adjusting hole 42 to adjust the supporting distance in the yaw axis direction . The first adjusting member 43 is inserted into the first adjusting hole 42 to fasten the first adjusting link 41 and the reinforcing frame 44 to each other.

The first adjustment link 41 extends in the yaw axis direction from the second support 12 of the support unit 10 and the first adjustment link 41 extends in the yaw direction, The first adjusting body 43 is moved along the first adjusting hole 42 formed in the yaw axis direction. The position of the center of the supporting unit 10 with respect to the yaw axis direction is adjusted to the height of the ankle A in conjunction with the movement of the first adjusting body 43 along the first adjusting hole 42 .

The second adjuster 50 adjusts the support distance of the ankle A relative to the support unit 10 in the pitch axis direction. 4 and 5, the second adjusting unit 50 includes a second adjusting link 51, a second adjusting hole 52, and a second adjusting member 53, Thereby adjusting the pitch distance support distance to the unit 10. [

The second adjusting link 51 interconnects the supporting unit 10 and the supporting unit 20 so as to extend in the pitch axis direction. One end of the second adjusting link 51 is connected to the reinforcing frame 44 connected to the first adjusting link 41 in the yaw axis direction and the other end of the second adjusting link 51 extends in the pitch axis direction, Lt; / RTI > Here, the second adjusting link 51 and the reinforcing frame 44 are interconnected by a bolt B.

The second adjusting hole 52 is formed in the second adjusting link 51 at least one in the pitch axis direction. In the present embodiment, two of the second adjustment holes 52 are formed in parallel with each other, but it is not limited thereto.

The second adjusting member 53 is inserted into the second adjusting hole 52 and is movable along the second adjusting hole 52 in the pitch axis direction. The second adjusting member 53 interconnects the second adjusting link 51 and the connecting frame 23 through the second adjusting hole 52. As a result, the second adjusting member 53 is moved along the second adjusting hole 52 to adjust the supporting distance in the pitch axis direction.

A second adjusting link 51 is provided between the reinforcing frame 44 and the connecting frame 23 by the second adjusting portion 50 and the second adjusting link 51 is provided to the second adjusting link 51 in the pitch axis direction The second adjusting member 53 is moved along the second adjusting hole 52 formed. The position where the support unit 20 is spaced apart from the support unit 10 is adjusted in the pitch axis direction so that the rotation center with respect to the pitch axis of the support unit 10 is matched with the width of the ankle A. .

The third adjusting portion 60 is for adjusting the length in the roll axis direction with respect to the supporting unit 10. The third adjusting portion 60 includes a third adjusting link 61, 62 and a third adjuster 63. [

The third adjustment link 61 is provided so as to extend in the roll axis direction between the support unit 10 and the support unit 20. [ The third adjustment link 61 is connected at one end to the load portion 21 of the adjustment unit 30 and at the other end to the other end of the connection frame 23 in the roll axis direction. That is, one end of the connection frame 23 is connected to the second adjusting link 51 and the other end is connected to the third adjusting link 61. At this time, the loading portion 21 and the third adjusting link 61 are connected to each other by a bolt B.

The third adjustment hole (62) is formed through at least one third adjustment link (61) in the roll axis direction. As in the first and second adjustment holes 42 and 52, the third adjustment hole 62 is formed by passing through the third adjustment link 61 in the roll axis direction in parallel with each other. do.

At least one of the third adjusting member 63 is inserted into the third adjusting hole 62 so as to be movable in the roll axis direction and is moved along the third adjusting hole 62 to adjust the supporting distance in the roll axis direction . At this time, the third adjusting member 63 passes through the third adjusting hole 62 to interconnect the third adjusting link 61 and the connecting frame 23. The third adjusting member 63 is moved in the roll axis direction along the third adjusting hole 62 of the third adjusting link 61 so that the ankle A supported by the supporting unit 10 The length is adjusted.

More specifically, the third adjusting unit 60 is configured such that the third adjusting member 63 inserted in the third adjusting hole 62 provided in the third adjusting link 61 is moved in the roll axis direction, 30 and the connecting frame 23 is adjusted in the roll axis direction. Thus, the position of the center of the support unit 10 in the roll axis direction is adjusted to fit the length of the ankle A.

The operation of the joint supporting apparatus 1 for an exoskeletal robot according to the present invention having the above-described structure will be described with reference to FIG.

First, as shown in Fig. 1, the ankle A is placed so that the soles of the feet are placed on the first pedestal 11 of the pedestal unit 10 and the heel is supported by the second pedestal 12. At this time, in order to match the size of the ankle A, the first to third adjusting parts 40, 50, 60 of the adjusting unit 30 adjust the support distances in the yaw, pitch and roll axis directions do.

More specifically, the first adjusting member 43 is moved in the yaw axis direction along the first adjusting hole 42 provided in the first adjusting link 41 of the first adjusting member 40. The reinforcing frame 44 connected to the first adjusting member 43 through the first adjusting hole 42 is moved in the yaw axis direction. Therefore, the supporting distance is adjusted so that the rotational center of the ankle A placed on the receiving unit 10 with respect to the yaw axis direction coincides with the yaw axis rotational center of the receiving unit 10.

The second adjusting member 53 is moved in the pitch axis direction along the second adjusting hole 52 provided in the second adjusting link 51 of the second adjusting unit 50. One end of the connecting frame 23 connected to the second adjusting member 53 through the second adjusting hole 52 is moved in the pitch axis direction so that the pitch of the supporting unit 10 and the ankle A The support distances are adjusted so that the axial rotation centers mutually coincide.

The third adjusting member 63 is moved in the roll axis direction along the third adjusting hole 62 provided in the third adjusting link 61 of the third adjusting member 60 so that the third adjusting member 63 Is moved along the third adjustment hole 62 in the roll axis direction. The spacing roll axial distance between the supporting unit 10 and the supporting unit 20 is adjusted so that the support distances of the ankle A and the supporting unit 10 coincide with each other .

As described above, by adjusting the yaw, pitch and roll axial support distances by the first to third adjusting portions 40, 50, 60, the ankle A placed on the supporting unit 10 , The pitch and the roll rotation center can coincide with the yaw, pitch and roll rotation center of the supporting unit 10. [ Particularly, the pitch of the ankle A and the position of the roll rotation axis can coincide with the pitch of the support unit 10 and the position of the roll rotation axis, so that various driving operations of the ankle A can be stably assisted.

On the other hand, the support unit 20 supports the self weight applied in a state where the ankle A is placed on the support unit 10, thereby preventing sagging. Specifically, as shown in Fig. 3, the load applied to the self-weight of the support unit 10 is transmitted to the ground surface of the load unit 21 of the support unit 20. Fig. The load thus transmitted is absorbed by the reaction force received from the ground by elastically supporting the elastic portion 22 of the support unit 20 in the vertical upward direction, i.e., the yaw axis direction. As a result, the moment applied by the self weight of the joint support device for an exoskeleton robot 1 applied to the ankle A is canceled.

Meanwhile, in the present embodiment, the elastic portion 22 of the support unit 20 includes the first and second elastic members 24 and 25, but is not limited thereto. 7, the elastic portion 122 of the supporting unit 20 is extended from the load portion 21 in the direction of the yaw axis, and the surface of the elastic member 124, which is in contact with the paper surface, And a supporting member 125 interposed between the member 124 and the ground to support a load applied to the elastic member 124. [ More specifically, the elastic member 124 is a compression coil spring having the same support shaft 26 as the elastic member 24 described above, whereas the support member 125 may be formed of a non-elastic material having a hemispherical shape have. The hemispherical support member 125 has a semi-spherical shape in point contact with the ground so as to minimize friction, so that the self-weight transmitted from the load portion 21 can be absorbed by the repulsive force received from the ground.

Although the present invention has been described with reference to the preferred embodiments thereof, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined in the following claims. It can be understood that

1: joint support device for exoskeleton robot 10: support unit
20: support unit 21:
22: elastic portion 30: regulating unit
40: first adjusting section 50: second adjusting section
60: Third control part A: Ankle

Claims

A supporting unit for supporting a joint part of the human body to assist the operation;
A supporting unit for supporting sag due to its own weight applied to the supporting unit; And
A control unit for adjusting a distance of support of the joint part with respect to the support unit;
/ RTI >
The supporting unit includes:
A first pedestal supporting the sole of the human body; And
A second pedestal extending vertically upward from the first pedestal so as to be in close contact with the heel of the human body;
Lt; / RTI >
Wherein the joint axis between the first pedestal and the second pedestal coincides with the rotation center of the ankle joint in the roll and pitch axis directions of the human body.

delete

The method according to claim 1,
The support unit includes:
A load portion for transmitting a weight of the weight applied to the support unit to the ground; And
An elastic part for elastically supporting the load part and absorbing the self weight;
A joint support device for an exoskeleton robot.

The method of claim 3,
Wherein the load portion includes a frame extending in the yaw axis direction from the support unit,
The elastic portion
A first elastic member extending from the load portion in the yaw axis direction and having a support shaft therein; And
A second elastic member interposed between the first elastic member and the ground to elastically support a load applied to the first elastic member;
A joint support device for an exoskeleton robot.

5. The method of claim 4,
The first elastic member includes a compression coil spring,
Wherein the second elastic member comprises an elastic body formed of one of rubber or urethane material.

The method of claim 3,
Wherein the load portion includes a frame extending in the yaw axis direction from the support unit,
The elastic portion
An elastic member extending from the load portion in the yaw axis direction and having a support shaft therein; And
A support member having a hemispherical surface in contact with the ground and interposed between the elastic member and the ground to support a load applied to the elastic member;
A joint support device for an exoskeleton robot.

The method according to claim 1,
The adjustment unit includes:
A first adjuster for adjusting a support distance for supporting the joint part of the human body with respect to the support unit in a yaw axis direction;
A second adjusting unit for adjusting a length of the supporting distance with respect to the supporting unit in a pitch axis direction; And
A third adjusting unit for adjusting the length of the supporting unit relative to the supporting unit in the direction of the roll axis;
A joint support device for an exoskeleton robot.

8. The method of claim 7,
The first adjuster may comprise:
A first adjustment link extending in the yaw axis direction with respect to the support unit and connected to the support unit;
A first adjusting hole formed in the first adjusting link at least one through hole in the yaw axis direction; And
At least one first adjusting member inserted into the first adjusting hole movably in the yaw axis direction and interlocking with the first adjusting hole to adjust the supporting distance in the yaw axis direction;
A joint support device for an exoskeleton robot.

8. The method of claim 7,
The second adjustment unit
A second adjustment link extending in the pitch axis direction between the support unit and the support unit;
A second adjusting hole formed in the second adjusting link at least one in the pitch axis direction; And
At least one second adjusting member inserted into the second adjusting hole movably in the pitch axis direction and interlocking with the second adjusting hole to adjust the supporting distance in the pitch axis direction;
A joint support device for an exoskeleton robot.

8. The method of claim 7,
Wherein the third adjuster comprises:
A third adjusting link extending in the roll axis direction between the receiving unit and the adjusting unit;
A third adjusting hole formed in the third adjusting link at least one through hole in the roll axis direction; And
At least one third adjusting member inserted into the third adjusting hole movably in the roll axis direction and interlocking with the third adjusting hole to adjust the supporting distance in the roll axis direction;
A joint support device for an exoskeleton robot.

9. The method of claim 8,
Wherein one end of the first adjusting link is connected to the supporting unit and the other end is connected to a reinforcing frame extending in the yaw axis direction and supporting the second adjusting unit.

10. The method of claim 9,
Wherein one end of the second adjustment link is connected to a reinforcing frame extending from the support unit in the direction of the yaw axis and the other end is connected to a connection frame for interconnecting the support unit and the support unit, .

11. The method of claim 10,
And a connection frame interconnecting the support unit and the support unit,
And the third adjustment link extends in the roll axis direction between the connection frame and the support unit.

The method according to claim 1,
Wherein the supporting unit is provided with a strap for fixing the joint part.

A supporting unit on which a joint part of the human body is placed;
A supporting unit for transmitting the weight of the weight applied to the supporting unit to the ground to support deflection; And
An adjustment unit for adjusting the rotation axis of the support unit to coincide with the rotation axis of the joint part of the human body;
/ RTI >
The supporting unit includes:
A first pedestal supporting the soles of the human body with an area extending in the axial direction of the roll and the pitch axis; And
A second pedestal extending in the yaw axis direction from the first pedestal so as to be in close contact with the heel of the human body;
/ RTI >
Wherein the joint axis between the first pedestal and the second pedestal coincides with the rotation center of the ankle joint in the roll and pitch axis directions of the human body.

delete

16. The method of claim 15,
The support unit includes:
An upper portion extending in the yaw axis direction adjacent to the second pedestal and transmitting the weight to the ground; And
An elastic part elastically supporting and absorbing a self weight applied to the load part between the load part and the ground;
/ RTI >
The elastic portion
A first elastic member extending from the load portion in the yaw axis direction and having a support shaft therein; And
A second elastic member interposed between the first elastic member and the ground to elastically support a load applied to the first elastic member;
A joint support device for an exoskeleton robot.

16. The method of claim 15,
The support unit includes:
An upper portion extending in the yaw axis direction adjacent to the second pedestal and transmitting the weight to the ground; And
An elastic part elastically supporting and absorbing a self weight applied to the load part between the load part and the ground;
/ RTI >
The elastic portion
An elastic member extending from the load portion in the yaw axis direction and having a support shaft therein; And
A support member having a hemispherical surface in contact with the ground and interposed between the elastic member and the ground to support a load applied to the elastic member;
A joint support device for an exoskeleton robot.

16. The method of claim 15,
The adjustment unit includes:
A first adjuster for adjusting a support distance for supporting the joint part of the human body with respect to the support unit in the direction of the yaw axis;
A second adjusting unit for adjusting the length of the support unit with respect to the support unit in the pitch axis direction; And
A third adjusting unit for adjusting the length of the supporting unit relative to the supporting unit in the roll axis direction;
A joint support device for an exoskeleton robot.

20. The method of claim 19,
The first adjuster may comprise:
A first adjustment link extending in the yaw axis direction so that one end thereof is connected to the support unit and the other end is connected to a reinforcement frame extending in the yaw axis direction and supporting the second adjustment unit;
A first adjusting hole formed in the first adjusting link at least one through hole in the yaw axis direction; And
The first adjusting hole is connected to the first adjusting link and the reinforcing frame through the first adjusting hole, and the first adjusting hole is inserted into the first adjusting hole so as to be movable in the yaw axis direction along the first adjusting hole, At least one first adjuster for adjusting in the axial direction;
A joint support device for an exoskeleton robot.

20. The method of claim 19,
The second adjustment unit
And the second adjustment link is connected to the reinforcing frame extending from the second pedestal in the yaw axis direction and the other end is connected to the connection frame connecting the support unit and the support unit, ;
A second adjusting hole formed in the second adjusting link at least one in the pitch axis direction; And
Wherein the second adjustment hole is formed in the second adjustment hole so that the first adjustment hole and the second adjustment hole are mutually connected to each other through the second adjustment hole so as to be movable in the pitch axis direction along the second adjustment hole, At least one second adjuster for adjusting the pitch axis direction;
A joint support device for an exoskeleton robot.

20. The method of claim 19,
Wherein the third adjuster comprises:
A third adjusting link extending in the axial direction of the roll so that one end is connected to a connecting frame interconnecting the supporting unit and the supporting unit and the other end is connected to the supporting unit;
A third adjusting hole formed in the third adjusting link at least one through hole in the roll axis direction; And
And a second adjusting hole which is inserted into the third adjusting hole so as to be movable in the roll axis direction along the third adjusting hole so as to pass through the third adjusting hole, At least one third adjuster for adjusting the roll axis direction;
A joint support device for an exoskeleton robot.

16. The method of claim 15,
Wherein the supporting unit is provided with a strap for fixing the joint part.