MULTI-DOF RING TYPED LEG SUPPORTING STRUCTURE FOR ROBOT SUIT

摘要

The present invention relates to a multi-degree of freedom ring-type leg support structure for a robot suit. The leg support structure as a lower leg and foot support structure for the robot suit comprises: a thigh support part surrounding and supporting the part of a thigh; a knee joint part positioned on a knee, connected to the lower side of the thigh support part, and having a rotary shaft to perform a rotation below the knee in a pitch direction; a lower leg support part having a ㅍ-shaped structure with vertical supports and horizontal supports of which the upper horizontal support allows the bottom of the knee joint to be rotatable therealong in a yaw rate when engaged with the bottom of the knee joint part; an ankle support part connected to the bottom of the lower leg support part, having a C-type roll-direction guide rail positioned on the top thereof and guiding a rotation in a roll direction, and having a C-type pitch-direction guide rail extended from the bottom of the C-type roll-direction guide rail vertically and guiding a rotation in the pitch direction; and a plate-type sole support part rotatable along the C-type pitch-direction guide rail in the pitch direction. The leg support structure according to the present invention has a ring-type joint structure with multiple degrees of freedom, so a wearer can freely and naturally move after wearing the leg support structure. In addition, the leg support structure according to the present invention has a stable and convenient fastening structure, thereby improving a wearing sensation and user convenience.