Power Assistive Robot for Human Upper Limb

• Main Authors: KANG TAE HUN, LEE HEE DON
• Format: Patent
• Language: English; Korean
• Published: 06.04.2022
• Subjects: ARTIFICIAL RESPIRATION; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; HUMAN NECESSITIES; HYGIENE; MANIPULATORS; MASSAGE; MEDICAL OR VETERINARY SCIENCE; PERFORMING OPERATIONS; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

Disclosed is an assistive robot for the human upper limb. According to the present invention, the assist robot comprises a first support frame, a rotation frame, a first arm, a second arm, a fastening part, a first actuator, and a second actuator. The first actuator and the second actuator are formed of rotary tandem elastic actuators. Only the fastening part supporting a user's lower arm is coupled to the user's upper limb. Accordingly, gravity compensation and muscle strength assistance are performed by the first actuator and the second actuator when the human upper limb moves, and the assistive robot for the human upper limb capable of minimizing the number of active joints, facilitating design and control, and having six degrees of freedom can be provided. 상지보조로봇이 개시된다. 상기 상지보조로봇은, 제1 지지프레임, 회전프레임, 제1 아암, 제2 아암, 체결부, 제1 액추에이터 및 제2 액추에이터를 포함한다. 제1 액추에이터 및 제2 액추에이터는, 회전형 직렬 탄성 액추에이터로 이루어진다. 사용자의 하박을 지지하는 체결부만 사용자의 상지에 결합된다. 상기 상지보조로봇에 의하면, 제1 액추에이터 및 제2 액추에이터에 의하여 인체의 상지 거동시 중력보상 및 근력보조가 이루어지고, 능동관절의 수를 최소화하고 설계 및 제어가 용이하며 6자유도를 가지는 상지보조로봇을 제공할 수 있다.