KR101937275B1 - Link structure for wearable robot - Google Patents

Abstract

The present invention allows a link structure to be switched to a rigid state or a flexible state according to circumstances, thereby preventing a safety accident caused by restraining the body of the wearer, To a link structure for a wearable robot.
A link structure for a wearable robot according to the present invention is a link structure provided between neighboring joints of a wearable robot. The link structure includes a base link provided on one side, an end link provided on the other side, A link portion including at least one middle link arranged in a first direction; And a compression driving unit for providing a compression driving force for pressing the base link, the middle link, and the end link to each other to allow the link unit to be in a rigid state or to release the compression driving force so that the link unit is in a flexible state.

Description

[0001] LINK STRUCTURE FOR WEARABLE ROBOT [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a link structure for a wearable robot, and more particularly, to a link structure for a wearable robot, in which a link structure can be switched to a rigid state or a flexible state, And to a link structure for a wearable robot that can prevent a safety accident from occurring.

An intelligent gait training device composed of an exoskeleton robot to be worn on the lower body for gait training and a cast walker to support the weight of the user during walking has been developed not only for the elderly or the patient who have recently lowered leg strength, but also for the general public.

Meanwhile, Korean Patent No. 10-1186540 discloses a structure for a wearable exoskeletal robot provided with a motor pivot portion on the hip joint, knee joint, and ankle joint to assist walking.

However, since the link member 20 of the conventional exoskeletal robot such as Korean Patent No. 10-1186540 is configured in the form of a rigid rod, when a user wears an exoskeleton robot and lifts the leg while using the robot, The movement is not free, especially when it falls, and there is a possibility that an accident such as a bone broken or a ligament damage is caused by a hard link.

Therefore, when a user wears an exoskeleton robot, it is possible to reduce the sense of heterogeneity caused by the difference in the kinematic structure of the human joint structure and the exoskeletal robot, especially, There is a need for a technique that allows the link member to be switched to a flexible state in a special situation such as a losing situation.

Korean Registered Patent No. 10-1186540 (registered on September 21, 2012)

It is an object of the present invention to solve the above problems of the prior art, and it is an object of the present invention to provide a link structure which can be changed into a rigid state or a flexible state according to a situation, And to provide a link structure for a wearable robot that can prevent a safety accident and reduce a sense of heterogeneity.

According to another aspect of the present invention, there is provided a link structure for a wearable robot including a base link provided at one side, an end link provided at the other side, A link portion including at least one middle link arranged in series between the end links; And a compression drive unit for providing a compression driving force for pressing the base link, the middle link, and the end link to each other to allow the link unit to be in a rigid state or to release the compression driving force so that the link unit is in a flexible state.

Preferably, the crimping driver includes: a wire having one end fixed to the end link and the other end extending through the middle link and the base link; And an actuator for pulling the other end of the wire to make the link part to be in a rigid state or pulling the other end of the wire to make the link part flexible.

Preferably, the wires may be formed at the center of the link portion, or a plurality of the wires may be arranged at an equal angle with respect to the center of the link portion.

Preferably, the wire may be configured to reciprocate at least once between the base link and the end link.

Preferably, the actuator includes: a cylinder tube integrally formed on the outer side of the base link; And a piston capable of reciprocating motion by the pressure of fluid or gas in the cylinder tube, wherein the other end of the wire is fixed to the piston, and when the piston is separated from the base link, And the link is in a flexible state when the piston is close to the base link.

Preferably, rubber elastic means for increasing frictional force may be provided between the base link, the middle link, and the end link.

Preferably, the outer portion of the link portion may be provided with a protective skin of a flexible material for covering and protecting the link portion.

Preferably, hemispherical convex portions are formed on one side surface of the middle link, the hemispherical concave portion is formed on the other side surface of the middle link, a hemispherical concave portion is formed on a corresponding surface of the base link corresponding to the hemispherical convex portion of the middle link And a hemispherical convex portion may be formed on a corresponding surface of the end link corresponding to the hemispherical concave portion of the middle link.

Preferably, a semicircular convex portion is formed on one side surface of the middle link, the semicircular concave portion is formed on the other side surface of the middle link, a semicircular concave portion is formed on a corresponding surface of the end link corresponding to the semicircular convex portion of the middle link And a semicircular convex portion may be formed on a corresponding surface of the base link corresponding to the semicircular concave portion of the middle link.

Preferably, the radial convex portion of the middle link and the base link may be formed with an inclined groove at one end in the radial direction, and a stepped portion may be formed at the other end in the radial direction.

Preferably, the base link and the end link are formed in a plate shape, the middle link is formed in a cylindrical shape, a spherical elastic means of rubber material is provided between the middle links, And may be configured to penetrate the spherical elastic means.

Preferably, hemispherical convex portions are formed on one side surface of the middle link, the hemispherical concave portion is formed on the other side surface of the middle link, a hemispherical concave portion is formed on a corresponding surface of the base link corresponding to the hemispherical convex portion of the middle link A semi-spherical convex portion is formed on a corresponding surface of the end link corresponding to the hemispherical concave portion of the middle link, and the base link, the middle link, and the end link are provided with a first through hole, a second through hole, 3 through holes and fourth through holes are formed in an equiangular arrangement in a clockwise direction, one end of the wire is fixedly positioned outside the first through hole of the end link, and the other end of the wire is connected to the fourth through- A first through hole in the end link, a first through hole in the middle link, a second through hole in the middle link, And the second through hole of the base link, the second through hole of the middle link, the second through hole of the end link, the third through hole of the end link, A second through hole in the base link, a third through hole in the middle link, a third through hole in the middle link, and a second through hole in the base link, a fourth through hole in the base link, Wherein the actuator is connected to a first extended portion of the wire and a second extended portion of the wire to form a first extended portion of the wire and a second extended portion of the wire, The two elongated portions are twisted to each other so that the link portion is in a rigid state or the first extended portion and the second extended portion of the wire are untwisted so that the link portion is in a flexible state, It may be of a driver (Twisted String Actuator).

As described above, according to the present invention, it is possible to change the link structure into a rigid state or a flexible state according to circumstances, thereby reducing the sense of heterogeneity caused by different joints and bone structures, It is possible to prevent safety accidents due to restraining the body of the wearer as in the situation.

1 is a view showing a conventional wearable robot.
2 is a perspective view showing a rigid state of a link structure for a wearable robot according to a first embodiment of the present invention.
3 is a perspective view showing a flexible state of a link structure for a wearable robot according to a first embodiment of the present invention.
4 is a view showing an application example of a link structure for a wearable robot according to the first embodiment of the present invention.
5 is a cross-sectional view illustrating a link structure for a wearable robot according to a first embodiment of the present invention.
6 is a cross-sectional view of a link structure for a wearable robot according to the first and second embodiments of the present invention.
7 is a cross-sectional view of a link structure for a wearable robot according to a second embodiment of the present invention.
8 is a cross-sectional view of a link structure for a wearable robot according to a third embodiment of the present invention.
FIG. 9 is a view showing links constituting a link structure for a wearable robot according to a third embodiment of the present invention.
10 is a perspective view showing a rigid state of a link structure for a wearable robot according to a fourth embodiment of the present invention.
11 is a perspective view showing a flexible state of a link structure for a wearable robot according to a fourth embodiment of the present invention.
12 is a view showing links constituting a link structure for a wearable robot according to a fourth embodiment of the present invention.

The present invention may be embodied in many other forms without departing from its spirit or essential characteristics. Accordingly, the embodiments of the present invention are to be considered in all respects as merely illustrative and not restrictive.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, .

On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", "having", and the like are intended to specify the presence of stated features, integers, steps, operations, components, Steps, operations, elements, components, or combinations of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and a duplicate description thereof will be omitted.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The link structure for a wearable robot according to an embodiment of the present invention can be applied to a link structure provided between neighboring joints J1, J2, and J3 of the wearable robot as shown in FIG.

For example, the link structure of the present embodiment may be provided between the pelvis joint J1 and the knee joint J2, or may be provided between the knee joint J2 and the ankle joint J3, , J2, J3).

2 to 5, the link structure of the present embodiment includes a link portion 100 and a compression driving portion 200. [

The link unit 100 includes a base link 110, a middle link 130 and an end link 120. The base link 110 is provided at one side of the link unit 100, The link 120 is provided on the other side of the link unit 100 and the middle link 130 is arranged in series between the base link 110 and the end link 120.

The compression driving unit 200 is a part that drives the link unit 100 to be in a rigid state (state of FIG. 2) or in a flexible state (state of FIG. 3) 130 and the end link 120 to each other so that the link unit 100 is in a rigid state or the link unit 100 is in a flexible state by releasing the compression driving force.

≪ Embodiment 1 >

The link structure for a wearable robot according to the first embodiment includes a link portion 100 including a base link 110, a middle link 130, and an end link 120, as shown in FIGS. And a compression driving unit 200 including a wire 210 and an actuator 220.

First, the link unit 100 will be described.

As shown in FIGS. 2 and 3, the middle link 130, which is arranged in series between the base link 110 and the end link 120, has a semi-spherical convex portion 131 formed on one side surface thereof And a hemispherical concave portion 132 is formed on the other side. The neighboring middle link 130 is arranged in series so that the hemispherical convex portion 131 and the hemispherical concavity 132 face each other.

2 and 3, a hemispherical concave portion 111 is formed on a corresponding surface of the base link 110 corresponding to the hemispherical convex portion 131 of the middle link 130, The hemispherical concave portion 111 of the link 110 and the hemispherical convex portion 131 of the middle link 130 face each other.

2 and 3, a hemispherical convex portion 122 is formed on a corresponding surface of the end link 120 corresponding to the hemispherical concave portion 132 of the middle link 130, The hemispherical convex portion 122 of the link 120 and the hemispherical concave portion 132 of the middle link 130 are arranged in series so as to face each other.

As described above, since the hemispherical concave portion and the hemispherical convex portion are opposed to each other, the link portion 100 is guided by the hemispherical concave portion and the hemispherical convex portion, . ≪ / RTI >

A rubber elastic means 140 may be provided between the base link 110, the middle link 130, and the end link 120 to increase frictional force.

Next, the compression driving unit 200 will be described.

5, one end of the wire 210 constituting the compression driving unit 200 is fixed to the outer side of the center of the end link 120 and the other end of the wire 210 passes through the middle portion of the middle link 130 And extends to the center of the base link 110. [

The wire 210 is not fixed to the base link 110 and the middle link 130 and the base link 110 and the middle link 130 are connected to the wire 210 210 in the longitudinal direction.

The other end of the wire 210 passes through a central portion of the base link 110 and is connected to an actuator 220 constituting the compression driving unit 200.

5, the actuator 220 includes a cylinder tube 221 integrally formed on the outer side of the base link 110, and a piston 224 reciprocating in the cylinder tube 221 by the pressure of fluid or gas. And a piston (222) capable of being operated.

The other end of the wire 210 is fixed to a central portion of the piston 222 so that the link portion 100 is rigid when the piston 222 is separated from the base link 110, The link portion 100 may be in a flexible state when the base link 110 is close to the base link 110. [

2, as the hydraulic pressure is supplied to the first port P1, the actuator 220 is spaced apart from the base link 110 to move the wire 210 The base link 110, the middle link 130, and the end link 120 are pressed against each other as the other end is pulled, so that the link portion 100 is in a rigid state.

3, as the hydraulic pressure is supplied to the second port P2, the actuator 220 moves the piston 222 close to the base link 110, The middle link 130 and the end link 120 are disengaged from each other, so that the link unit 100 can be operated in a flexible state.

As described above, the link structure composed of the link portion 100 and the compression driving portion 200 is configured to connect the neighboring joints J1, J2, and J3 to each other as shown in FIG. 4, In the case where the link structure of the present embodiment is provided between the pelvis joint J1 and the knee joint J2 and between the knee joint J2 and the ankle joint J3, The pressing operation unit 200 is operated so as to pull the other end of the wire 210 so that the legs of the wearer are in a rigid state when the legs of the wearer are in an upright state, May be operable to pull the other end of the wire 210 off.

4 and 5, a flexible skin protection cover 150 may be provided on the outer side of the link unit 100 to protect the link unit 100 from being wrapped.

6 (a), the wire 210 is formed as one unit at the center of the link unit 100. However, as shown in FIGS. 6 (b) to 6 (d) As shown in the drawing, it is needless to say that a plurality of wires 210 separated from each other may be arranged in an equiangular manner.

One end of each wire 210 is fixed to the end link 120 and the other end of each wire 210 passes through the middle link 130 And is connected to the piston 222 of the actuator 220 constituting the compression driving unit 200 after being extended to the base link 110.

≪ Embodiment 2 >

The link structure for a wearable robot according to the second embodiment is configured such that the configuration of the link portion 100 including the base link 110, the middle link 130, and the end link 120 The crimping driver 200, which is different from the first embodiment and includes the wire 210 and the actuator 220, is configured in the same manner as in the first embodiment.

Specifically, the base link 110 and the end link 120 are formed in a plate-like shape, and the middle link 130 is formed in a cylindrical shape, and between the middle link 130, 140 are provided.

The wire 210 of the squeezing drive unit 200 is configured to penetrate the inside of the middle link 130 and the spherical elastic means 140.

7, when the hydraulic pressure is supplied to the first port P1, the piston 222 is spaced apart from the base link 110 and pulls the other end of the wire 210, The link 110, the middle link 130, the spherical elastic means 140, and the end link 120 are pressed against each other so that the link portion 100 is in a rigid state.

7, as the piston 222 is pulled close to the base link 110 to pull the other end of the wire 210 as the hydraulic pressure is supplied to the second port P2, The compression of the link between the base link 110, the middle link 130, the spherical elastic means 140, and the end link 120 is released so that the link unit 100 can be operated in a flexible state.

6 (e), the case where the base link 110 and the end link 120 are circular is exemplified. However, as shown in (f) to (h) of FIG. 6, It can be deformed into a rectangular, triangular or square shape.

6 (e) and 6 (f), in addition to the case where the middle link 130, the spherical elastic means 140, and the wire 210 groups are formed of two groups, And as shown in (h), it may be composed of three groups, four groups, etc. in conformal arrangement.

≪ Third Embodiment >

The link structure for a wearable robot according to the third embodiment includes a link portion 100 including a base link 110, a middle link 130, and an end link 120, as shown in Figs. 8 and 9, And the crimping driver 200 including the wire 210 and the actuator 220 are configured differently from the first embodiment.

A hemispherical convex portion 131 is formed on one side of the middle link 130 and the hemispherical concave portion 132 is formed on the other side of the middle link 130.

A hemispherical concave portion 111 is formed on a corresponding surface of the base link 110 corresponding to the hemispherical convex portion 131 of the middle link 130 to correspond to the hemispherical concave portion 132 of the middle link 130 A hemispherical convex portion 122 is formed on a corresponding surface of the end link 120. [

The first through holes 110h1, 120h1 and 130h1 and the second through holes 110h2 and 120h2 are formed in the base link 110, the middle link 130 and the end link 120, 130h2, third through holes 110h3, 120h3, 130h3, and fourth through holes 110h4, 120h4, 130h4 are equiangularly arranged clockwise.

The wire 210 is formed of a single wire and includes first through holes 110h1, 120h1 and 130h1, second through holes 110h2, 120h2 and 130h2, third through holes 110h3, 120h3 and 130h3, And is configured to be reciprocally connected between the base link 110 and the end link 120 through the through holes 110h4, 120h4, and 130h4.

One end of the wire 210 is fixedly positioned outside the first through hole 120h1 of the end link 120 and the other end of the wire 210 is connected to the fourth end of the end link 120, And is fixedly positioned outside the hole 120h4.

The first through hole 120h1 of the end link 120, the first through hole 130h1 of the middle link 130, and the first through hole 130h1 of the base link 110 are formed at one end of the wire 210, Holes 110h2 of the base link 110 and the second through holes 130h2 of the middle link 130 and the end link 120h2 of the base link 110 after the first through- The third through hole 120h3 of the end link 120, the third through hole 130h3 of the middle link 130, the third through hole 120h2 of the base link 110, Holes 110h3 of the base link 110 and then the fourth through holes 110h4 of the base link 110 and the fourth through holes 130h4 of the middle link 130 and the end links 120 Through the fourth through hole 120h4 of the wire 210 and extends to the other end of the wire 210. [

The wire 210 may be configured to penetrate only the fifth through holes 110h5, 120h5, and 130h5 of the links 110, 120, and 130, respectively.

Meanwhile, the actuator 220 is composed of a twisted string actuator 223 (Twisted String Actuator).

Specifically, the line-twist driver 223 is provided with a line-twist pulley 223-1 that is rotated by a drive shaft. The line-twist driver 223 includes a cable shaft 223-1 having pulley- (223-2).

The first extended portion 210-1 and the second extended portion 210-2 of the wire 210 are hooked to both ends of the cable shaft 223-2.

Therefore, when the drive shaft of the line-twist driver 223 is rotated, the line-twist pulley 223-1 and the cable shaft 223-2 are rotated, so that the first extended The base link 110, the middle link 130, and the end link 120 are pressed against each other as the first and second extended portions 210-1 and 210-2 are twisted to shorten each other, So that the link portion 100 is in a rigid state.

When the rotational force of the wire twist driver 223 is removed, the rotational force of the wire twist pulley 223-1 and the cable shaft 223-2 is removed, The middle link 130, the end link 120, and the like can be naturally released as the twist of the first extended portion 210-1 and the second extended portion 210-2 becomes naturally loosened, So that the link portion 100 can be operated in a flexible state.

<Fourth Embodiment>

The link structure for a wearable robot according to the fourth embodiment includes a link portion 100 including a base link 110, a middle link 130, and an end link 120, as shown in FIGS. 10 to 12, And the crimping driver 200 including the wire 210 and the actuator 220 are constructed in the same manner as in the first embodiment.

Specifically, a semicircular convex portion 131 'is formed on one side of the middle link 130, and the semicircular concave portion 132' is formed on the other side of the middle link 130.

On the other hand, a semicircular concave portion 121 'is formed on a corresponding surface of the end link 120 corresponding to the semicircular convex portion 131' of the middle link 130, and a semicircular concave portion And a semicircular convex portion 112 'is formed on a corresponding surface of the base link 110 corresponding to the semicircular convex portion 132'.

An inclined groove portion c is formed at one end in the radial direction of the semicircular convex portion 131 'of the middle link 130 and the semicircular convex portion 112' of the base link 110, A step (d) is formed.

The first through holes 110h1, 120h1 and 130h1 and the second through holes 110h2, 120h2 and 130h2 are formed in the base link 110, the middle link 130 and the end link 120, The third through holes 110h3, 120h3, and 130h3, and the fourth through holes 110h4, 120h4, and 130h4 are equiangularly arranged in the clockwise direction.

The first wire 210a passing through the second through holes 110h2, 120h2 and 130h2 and the third through holes 110h3, 120h3 and 130h3 and the first through holes 110h1, 120h1 and 130h1, And a second wire 210b passing through the through holes 110h4, 120h4, and 130h4.

The first wire 210a is connected to the second through hole 110h2 and the third through hole 110h3 of the base link 110 and the second through hole 120h2 and the third through hole 120h2 of the middle link 120, 120h3 of the end link 130, the second through hole 130h2 and the third through hole 130h3 of the end link 130, respectively.

The second wire 210b is connected to the first through hole 110h1 and the fourth through hole 110h4 of the base link 110, the first through hole 120h1 and the fourth through hole 120h1 of the middle link 120, 120h4 of the end link 130, the first through hole 130h1 and the fourth through hole 130h4 of the end link 130, respectively.

An upper portion of the first wire 210a is supported by a roller r2 and an upper portion of the second wire 210b is supported by a roller r1.

The lower portion of the first wire 210a and the lower portion of the second wire 210b are further extended from the base link 110 by a predetermined length.

Accordingly, the lower portion of the first wire 210a and the lower portion of the second wire 210b may be connected to the piston of the actuator (or the twist driver of the actuator).

10, the piston is spaced apart from the base link 110 to pull the lower portion of the first wire 210a and the lower portion of the second wire 210b, respectively, so that the base link 110 The middle link 130, and the end link 120 are pressed against each other, so that the link portions 100 are arranged in a line so as to be in a rigid state.

11, as the piston pulls the lower portion of the first wire 210a and the lower portion of the second wire 210b toward the base link 110, The link unit 100 can be flexibly operated in one direction by releasing the compression of the link unit 100, the middle link 110, the middle link 130, and the end link 120. In this case, You can move.

Although the present invention has been described with reference to the preferred embodiments thereof with reference to the accompanying drawings, it will be apparent to those skilled in the art that many other obvious modifications can be made therein without departing from the scope of the invention. Accordingly, the scope of the present invention should be interpreted by the appended claims to cover many such variations.

100: link portion 110: base link
120: end link 130: middle link
140: Elastic means 150: Protective skin
200: a crimping driver 210: a wire
220: Actuator

Claims (12)

A link structure provided between neighboring joints of a wearable robot,
A link portion including a base link provided on one side, an end link provided on the other side, and at least one middle link arranged in series between the base link and the end link; And
And a compression driving unit for providing a compression driving force for pressing the base link, the middle link, and the end link so that the link unit is in a rigid state or releasing the compression driving force so that the link unit is in a flexible state. Link structure. The method according to claim 1,
Wherein the compression drive unit comprises:
A wire having one end fixed to the end link and the other end extending through the middle link and the base link; And an actuator for pulling the other end of the wire so that the link portion is in a rigid state or pulling the other end of the wire so as to allow the link portion to be in a flexible state. 3. The method of claim 2,
Wherein the plurality of wires are arranged at the center of the link portion, or a plurality of the wires are arranged at an equal angle with respect to a center of the link portion. 3. The method of claim 2,
Wherein the wire is configured to reciprocate at least once between the base link and the end link. 3. The method of claim 2,
Wherein the actuator comprises:
A cylinder tube integrally formed on the outer side of the base link; And a piston capable of reciprocating motion by the pressure of fluid or gas in the cylinder tube,
And the other end of the wire is fixed to the piston so that when the piston is separated from the base link, the link portion is in a rigid state, and when the piston is close to the base link, the link portion is in a flexible state. A link structure for. The method according to claim 1,
And a rubber elastic means for increasing frictional force is provided between the base link, the middle link, and the end link. The method according to claim 1,
And a protective skin of a flexible material for covering and protecting the link portion is provided on the outside of the link portion. The method according to claim 1,
A hemispherical convex portion is formed on one side surface of the middle link, a hemispherical concave portion is formed on the other side surface of the middle link,
Wherein a hemispherical concave portion is formed on a corresponding surface of the base link corresponding to the hemispherical convex portion of the middle link and a hemispherical convex portion is formed on a corresponding surface of the end link corresponding to the hemispherical concave portion of the middle link Link structure. The method according to claim 1,
A semicircular convex portion is formed on one side surface of the middle link, a semicircular concave portion is formed on the other side surface of the middle link,
A semicircular concave portion is formed on a corresponding surface of the end link corresponding to the semicircular convex portion of the middle link and a semicircular convex portion is formed on a corresponding surface of the base link corresponding to the semicircular concave portion of the middle link. Link structure. 10. The method of claim 9,
Wherein an inclined groove is formed at one end of the semicircular convex portion of the middle link and the base link in the radial direction, and a step is formed at the other end in the radial direction. 3. The method of claim 2,
Wherein the base link and the end link are formed in a plate shape, the middle link is formed in a cylindrical shape, and a rubber elastic spherical means is provided between the middle links, and the wire is inserted into the middle link and the spherical elasticity Wherein the link mechanism is configured to penetrate the link mechanism. 3. The method of claim 2,
A hemispherical concave portion is formed on one side surface of the middle link, a hemispherical concave portion is formed on the other side surface of the middle link, a hemispherical concave portion is formed on a corresponding surface of the base link corresponding to the hemispherical convex portion of the middle link, A hemispherical convex portion is formed on a corresponding surface of the end link corresponding to the hemispherical concave portion of the link,
The base link, the middle link, and the end link are formed with a first through hole, a second through hole, a third through hole, and a fourth through hole,
Wherein one end of the wire is fixedly positioned outside the first through hole of the end link and the other end of the wire is fixed and positioned outside the fourth through hole of the end link,
A first through hole in the end link, a first through hole in the middle link, and a first through hole in the base link at one end of the wire, , A second through hole of the middle link, a second through hole of the end link, a third through hole of the end link, a third through hole of the middle link, and a third through hole of the base link, And then extends through the fourth through-hole of the base link, the fourth through-hole of the middle link, and the fourth through-hole of the end link to extend to the other end of the wire,
The actuator is connected to a first extended portion and a second extended portion of the wire such that the first extended portion and the second extended portion of the wire are twisted to each other such that the link portion is in a rigid state, And a twisted string actuator for releasing the twist of the first extended portion and the second extended portion so that the link portion is in a flexible state.

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