| 摘要 |
PROBLEM TO BE SOLVED: To utilize a heavy load to assist a joint motion during walking.SOLUTION: A balancer 31 is configured to move in such a manner as to slide a track, which is fixed to a thigh connection member 26, in the longitudinal direction of the thigh connection member 26 by a driving mechanism. When positioned behind hip joint assist actuators 18 and 19, the balancer generates joint moment for lifting the thigh connection member 26, as shown by a thick arrow. On the contrary, when positioned ahead of the hip joint assist actuators 18 and 19, the balancer generates joint moment for pushing down the thigh connection member 26. Thus, a wearable robot 1 can generate an assist force in a hip joint through the use of the principle of leverage by moving the balancer 31. Additionally, a heavy load necessary for walking assist, such as a battery, can also be utilized as the balancer 31. |
