EXOSKELETON

摘要

The present invention relates to a exoskeleton in a novel form designed to have a very simple structure and have a function of gravity compensation so as to reduce load burden exerted on the human body and additionally to be suitable for movement properties of the human body. The exoskeleton comprises: a first skeleton part; a second skeleton part; a joint part for connecting the first skeleton part and the second skeleton part to be able to assemble each other; a torsion bar provided lengthways along the second skeleton part; a rotation transmitting means for receiving rotation of the second skeleton part with respect to the first skeleton part so as to transmit rotational force such that one end of the torsion bar can rotate along the shaft center of the torsion bar; and a torsion bar fixing and unfixing means provided in the second skeleton part for fixing the other end of the torsion bar such that the other end of the torsion bar can rotate, or unfixing the fixing of the other end of the torsion bar such that rotation of the other end of the torsion bar can be allowed along the shaft center, wherein elastic restoring force is stored if the one end of the torsion bar is twisted with respect to the other end of the torsion bar, and elastic restoring force is not stored if the one end of the torsion bar is not twisted with respect to the other end of the torsion bar. [Reference numerals] (16e) Control unit