비틈 봉 중력보상기를 적용한 착용식 근력보조로봇 설계

Abstract

In this study, a technical method of reducing torque load of exoskeleton device, with using of a gravity compensator based on a torsion bar, for human leg joints, is proposed. Design and structure analyses and also performance test were performed to estimate and to measure the characteristics of the torsion bar. On the basis of design and structure analysis, a new light and compact exoskeleton device has been developed. For the purpose of lightening and optimizing thickness of the links, finite element analysis has been performed and designed the exoskeleton that is composed of motor and torsion bar.