Apparatus for driving wearable robot

摘要

An apparatus for driving a wearable robot includes a wire having one end connected to an arm of the wearable robot, a tension detector that is provided between the one end and the other end of the wire and detects tension of the wire, a driver that is connected to the other end of the wire and winds or unwinds the wire, and a controller that controls the driver to be operated to wind or unwind the wire when the arm rotates to change the tension of the wire so that the wire maintains a preset reference tension.

主权项

1. An apparatus for driving a wearable robot comprising:
a wire having one end connected to an arm of the wearable robot; a tension detector that is provided between the one end and the other end of the wire and detects tension of the wire; a driver that is connected to the other end of the wire and winds or unwinds the wire; and a controller that controls the driver to be operated to wind or unwind the wire when the arm rotates to change the tension of the wire so that the wire maintains a preset reference tension, wherein the wire includes a driver-side wire having one end connected to the driver, and an arm-side wire having one end connected to the arm, and wherein the tension detector includes: a driver-side hook having one end connected to the driver-side wire; an arm-side hook having one end connected to the other end of the arm-side wire, and the other end hooked on the driver-side hook; and a pressure sensor that is installed on the driver-side hook or the arm-side hook contact and detects pressure applied to the driver-side wire and the arm-side wire when the driver-side hook and the arm-side hook come into contact with each other.