This technology is a hip joint linkage for wearable robots that uses a four-bar linkage mechanism with multiple rotating joints and links to convert the moment input from a single actuator into multi-directional output moments—flexion, extension, abduction, and adduction—according to the gait cycle.
Existing hip joint modules for wearable robots require multiple actuators to assist with multi-axis moments, which increases system weight and complexity.
This technology proposes a four-bar linkage mechanism that places the drive unit at the first rotating joint and combines six rotating joints with four links. By changing the instantaneous axis of rotation, it can generate the appropriate output moment direction for each phase of the gait cycle—such as extension and abduction in the early phase, abduction in the mid-phase, and flexion and abduction in the late phase—using only a single actuator. It is applicable to gait assistance, industrial strength support, and rehabilitation training, and by enabling multi-directional assistance with a single actuator, it contributes significantly to the lightweight design and cost reduction of wearable robots.
CN113799096B, US11833103B2
