FORCE ASSISTIVE WEARABLE ROBOT FOR WEARING HUMAN BODY

摘要

A robot exoskeleton helping muscular strength of a wearer is provided to be worn easily on the lower extremity of a person for improving usability by having an interface for a leg and an interface for a foot, and to provide effective assistance on muscular strength with minimum interference among motors by taking signals from the lower extremity of a human body when muscular force of the lower extremity is generated over a certain level. A robot exoskeleton for helping muscular strength of a wearer includes first robot frames(100) having a certain length, articulation link units(300) linking ends of the first robot frames, second robot frames(200) being apart from the first robot frames, first grippers(210) installed outside of the second robot frames, angle detection units linking ends of the second robot frames and detecting rotational angle between one of the second robot frames and another one, recovery units(500) being placed between the first robot frames and the second robot frames with fixing an end of each recovery unit to the first robot frames and connecting the other end to the second robot frames for recovery of the second robot frames, and a motor drive unit(600) for rotating the first robot frames based on an angle detected by an angle detection unit.