| 摘要 |
<p>Introduced in the present invention is a wearable robot applying underactuation, which comprises: a driving unit which includes a driving unit sensor for sensing a rotation angle; a driving wire whose one end unit is connected with the driving unit in order to be wound or unwound; a balance pulley which is connected with the other end unit of the driving wire, and includes a balance sensor for sensing the rotation angle; a pair of drive pulleys which is placed at both joints of a robot; a transmitting wire whose one end is fixated to one drive pulley, whose the other end is fixated to the other drive pulley, and whose middle end unit is hung on the balance pulley; and a control unit which identifies the rotation angle of each of the both drive pulleys through measurement values of the driving unit sensor and the balance sensor.</p> |
