| 摘要 |
The present invention is characterized by comprising; an upper framework link (10) provided with a disk (25) on a joint (12); and a lower framework link (20) rotatably connected allowing up and down motion with the upper framework link (10); and a means of torque compensation separated from the disk (25) upon downward stroke and exerting a torque on the disk (25) upon upward stroke. Accordingly, a large torque is generated while an outer framework is in contact with a bottom face, whereas the generated torque disappears while the outer framework is separated from the bottom face so that there is an effect that inconvenience in motion due to continuation of a torque is alleviated while a reinforcement function of muscular strength of a wearable robot is improved. |
