Variable gravity compensation device and exoskeleton muscle strength reinforcement device equipped with the same

Variable Gravity Compensation Exoskeleton for Muscle Strength Augmentation Using a Slider-Crank and Position Adjustment Mechanism

This technology is a passive gravity compensation mechanism that offsets the torque caused by the weight of the arm using a slider-crank mechanism. It combines a counterbalancer unit that utilizes spring compression with a position adjustment device that modifies the distance between the rotation centers of the connecting rod, creating a variable gravity compensation and exoskeleton muscle augmentation device.

Existing exoskeleton devices rely on expensive sensors and motor-driven systems, leading to high maintenance costs, limited operating time due to battery dependency, and reduced field applicability caused by the heavy weight of the devices themselves.

This technology proposes a variable gravity compensation device composed entirely of mechanical elements, eliminating the need for sensors or external power sources. By adjusting the operating radius of the connecting rod via a position adjustment knob and clamp, the output compensation torque can be regulated. It is suitable for overhead tasks and assembly lines in manufacturing environments, allowing workers to wear it comfortably without battery concerns while continuously reducing shoulder strain.

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Key Features:

• A base link rotatably connected to a root link to form a base joint
• A first link connected to the base link to form a first joint, with its center of gravity positioned at a distance
• A counterbalancer unit that generates compensation torque by compressing a spring in conjunction with the rotation of the first link
• A position adjustment device that varies the compensation torque by adjusting the rotation center distance of the connecting rod

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a low-cost robot system based on multi-degree-of-freedom passive gravity compensation.