This technology is a mechanism for wearable robot joints that combines a cable routing structure with a gravity compensation spring to amplify torque and enable remote actuation. It performs rolling motion on the rolling surface where the fixed and moving members meet, and implements bidirectional drive and torque control with a single motor through reciprocating cable routing.
Conventional wearable robots have motors and reducers directly integrated into the rotary joints, resulting in bulky joints and high moments of inertia, which limit lightweight and high-speed movement. Furthermore, without a separate reducer, it is difficult to ensure cable stiffness or apply rolling joints due to structural differences from human joints.
This technology remotely actuates the link member via a motor-based cable drive unit installed on the base, achieving torque amplification through the design of the rolling surface between the fixed and moving members and the reciprocating cable configuration. Additionally, by connecting one end of a gravity compensation spring to the link member to form a gravity compensation cable, the robot joint achieves mechanical gravity compensation.
WO2024-122730A1
