Non-Interfering Cable-Driven Rotary Joint Device for Wearable Robots

Wearable Rotary Joint with Non-Interfering Drive Using Routing Cables and Pivot Rollers

This technology is a mechanism that combines a motor-driven actuator fixed to a base with pivot rollers and a cable routing structure to enable independent operation of serially connected rotary joints without mutual interference.

The limitations addressed include the increased volume of joints caused by mounting motors and reducers directly onto wearable robot joints, restricted movement due to increased moment of inertia, and the challenges of applying conventional rolling joint structures to human anatomy.

This technology adopts a remote drive structure that connects a fixed member on the base to a rolling actuator via cables. It independently controls the first and second link members through multiple routing cables passing over pivot rollers and incorporates a gravity compensation spring to provide mechanical assistance.

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Key Features:

• A base equipped with multiple pivot rollers, and a first link member equipped with multiple pivot rollers and connected to the base and a second link member
• A first cable drive unit equipped with a spool and motor to drive the first link member
• A pair of first drive cables with one end connected to the first cable drive unit and the other end extended by routing cables to connect to the first link member
• A second link member equipped with pivot rollers connected to a pair of routing cables, and a second drive cable driven by a second cable drive unit

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