Upper-limb exoskeleton robot

Upper Limb Assistive Robot

This technology is an upper limb assistive mechanism that secures only the user's forearm without requiring the alignment of the human upper limb and robot joint axes. It achieves gravity compensation and 6 degrees of freedom through two series elastic actuator (SEA)-based rotation axes.

Previous challenges included slippage, discomfort, increased design complexity, and the physical difficulty of aligning joint axes due to individual differences and the mismatch between human upper limb joint degrees of freedom and robot joints.

This technology features a mechanism that secures only the user's forearm and positions the robot's joint axes externally. By using wire-pulley-based rotary series elastic actuators, it measures torque from external forces and performs gravity compensation. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it resolves physical compatibility issues to enhance the user experience, providing a comfortable and safe interaction.

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Key Features:

• A second arm that is rotatably coupled to the first arm about a horizontal third robot rotation axis and includes a movement point.
• A connection frame rotatably coupled to the second arm about a horizontal fourth robot rotation axis passing through the movement point.
• A fastening unit rotatably coupled to the connection frame about a fifth robot rotation axis orthogonal to the fourth robot rotation axis.
• A rotating frame rotatably coupled to the first support frame about a vertical first robot rotation axis.

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This invention was developed with support from the Ministry of Science and ICT for the commercialization of immersive human-robot multi-sensory interaction technology.