Wearable robot

Abstract

The present disclosure relates to a wearable robot including upper and lower body portions configured to be closely attached to upper and lower bodies, respectively, of a person. Specifically, the upper body portion includes: a waist strap member; an intermediate connection link having one side connected to the lower body portion; a strap connection member connected to the waist strap member and the intermediate connection link; and an upper connection link including a side connected to the middle connection link and a section extending toward the chest of the person. Specifically, the strap connection member and the intermediate connection link are rotatably connected, and the intermediate connection link and the upper connection link are rotatably connected.

Description

[0001] Related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0062035, filed with the Korean Intellectual Property Office on May 10, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a wearable robot, and more specifically to a wearable robot capable of assisting the wearer in strengthening muscle muscles. Background Technology

[0004] The statements in this section provide only background information in connection with this disclosure and may not constitute prior art.

[0005] Wearable robots that generate auxiliary power to assist the wearer's lower back muscles are devices that reduce the load applied to the wearer's lower back by providing auxiliary power in the direction of the stretch when the wearer bends over. Wearable robots can be divided into front-support wearable robots and rear-support wearable robots. In a front-support wearable robot, the parts of the wearable robot that are tightly attached to the wearer are tightly attached to the front of the wearer (i.e., the wearer's chest), while in a rear-support wearable robot, its parts are tightly attached to the back of the wearer (i.e., the wearer's back).

[0006] In these wearable robots of related technologies, the front-support wearable robot employs a structure that can rotate in the left and right directions between the structure worn on the waist area and the structure worn on the lower body area, so that the front-support wearable robot can allow the wearer to rotate in the left and right directions (e.g., the wearer bending over or spreading his / her legs in the left and right directions).

[0007] However, the relevant technology has the following problem: when a wearer is wearing the wearable robot, it is difficult for the wearer to perform rotational movements in the left and right directions in multiple joint areas. In other words, the relevant technology has the following problem: when a wearer is wearing the wearable robot and bending over in the left and right directions while simultaneously opening his / her legs, the wearer experiences a noticeable foreign body sensation due to the structural limitations of the wearable robot. Summary of the Invention

[0008] The purpose of this disclosure is to propose a novel structure that provides comfort to the wearer even when the wearer performs left-right rotational movements in multiple joint regions while wearing a wearable robot.

[0009] To achieve the above objectives, one aspect of this disclosure provides a wearable robot. The wearable robot includes: an upper body portion configured to be at least partially and tightly attached to a person's upper body; and a lower body portion configured to be at least partially and tightly attached to a person's lower body and connected to the upper body portion. Specifically, the upper body portion includes: a waist belt member configured to be worn on a person's waist; a central connecting link having a side connected to the lower body portion; a belt connecting member having a first side connected to the waist belt member and a second side connected to the central connecting link; and an upper connecting link having a side connected to the central connecting link. The upper connecting link includes a segment extending toward the person's chest. The belt connecting member and the central connecting link are connected to be rotatable about a first rotation axis A1, and the central connecting link and the upper connecting link are connected to be rotatable about a second rotation axis A2 spaced apart from the first rotation axis A1.

[0010] The first axis of rotation A1 and the second axis of rotation A2 can be parallel to each other.

[0011] The first axis of rotation A1 can be positioned above the second axis of rotation A2.

[0012] The first rotation axis A1 can be positioned outside the second rotation axis A2 in the left-right direction.

[0013] The upper connecting link may include: a first upper connecting link member having one side connected to the intermediate connecting link and configured to rotate about a second rotation axis A2. Specifically, the first upper connecting link member includes a segment extending toward the chest of a person. The upper connecting link may also include a second upper connecting link member connected to an upper region of the first upper connecting link member, and the second upper connecting link member may be configured to move relative to the first upper connecting link member in a direction parallel to the extending direction of the first upper connecting link member in the region where the second upper connecting link member and the first upper connecting link member are connected.

[0014] The second upper link member can be connected to the first upper link member and is configured to rotate about a third rotation axis A3 parallel to the extension direction of the first upper link member in the region where the second upper link member and the first upper link member are connected.

[0015] The first upper link member may include a hollow tube region with an empty interior, and the second upper link member may be inserted into the hollow tube region.

[0016] The first upper link member may include: a first-first upper link region connected to an intermediate connecting link and configured to rotate about a first rotation axis A1, and the first-first upper link region extending forward from the intermediate connecting link; and a first-second upper link region that bends upward and extends from the first-first upper link region. A second upper link member may be connected to the upper region of the first-second upper link region.

[0017] The upper body portion may further include: a chest attachment member configured to be tightly attached to a person's chest; and an upper rotating intermediate link having a first side fixed to the chest attachment member and a second side connected to a second upper link member. The upper rotating intermediate link may be rotatably connected to the second upper link member.

[0018] The upper rotating intermediate link can be connected to the second upper link member and configured to rotate about two or more rotation axes A4, A5.

[0019] Two or more axes of rotation A4, A5 can be perpendicular to each other.

[0020] In two or more rotation axes A4, A5, one rotation axis A4 can extend in the front-back direction, and the other rotation axis A5 can extend in the left-right direction.

[0021] The lower body portion may include: an auxiliary power generating module connected to an intermediate connecting rod and configured to generate a rotational restoring force in relation to the rotational angle between the upper and lower body portions; a lower connecting rod connected to one side of the auxiliary power generating module; and a thigh attachment member disposed on one side of the lower connecting rod and configured to be tightly attached to the person's thigh. The thigh attachment member may be rotatably connected to the lower connecting rod.

[0022] The thigh attachment member can be connected to the lower connecting link and configured to rotate about two or more rotation axes A6, A7.

[0023] Two or more axes of rotation A6, A7 can be perpendicular to each other.

[0024] Of the two or more rotation axes A6 and A7, one rotation axis A6 can extend in the front-back direction, and the other rotation axis A7 can extend in the left-right direction.

[0025] The lower connecting rod can be fixedly connected to the auxiliary power generation module.

[0026] The lower connecting rod can be connected to the auxiliary power generation module and configured to rotate around the rotation axis A8.

[0027] Wearable robots may include: a left wearable robot configured to be worn on the left side of a person; and a right wearable robot configured to be worn on the right side of a person, wherein the left wearable robot and the right wearable robot are configured as separate components.

[0028] According to this disclosure, even when the wearer is wearing the wearable robot, comfort can be provided to the wearer when the wearer performs rotational movements in the left and right directions in multiple joint areas. Attached Figure Description

[0029] Figure 1 This is a view showing a person wearing a wearable robot according to an embodiment of this disclosure.

[0030] Figure 2 This is a perspective view showing a wearable robot according to an embodiment of the present disclosure.

[0031] Figure 3 This is an enlarged view showing the area where the upper and lower body parts of the wearable robot according to this disclosure are connected when viewed from the rear.

[0032] Figure 4 This is an enlarged view showing the area where the upper and lower body parts of the wearable robot according to this disclosure are connected when viewed from the front.

[0033] Figure 5 This is an enlarged view showing the upper connecting rod and surrounding components of the upper body portion of a wearable robot according to an embodiment of the present disclosure.

[0034] Figure 6 This is an enlarged view showing a chest attachment member and surrounding components disposed in the upper body portion of a wearable robot according to an embodiment of the present disclosure.

[0035] Figure 7 This is a view showing an auxiliary power generation module, a lower connecting link, and a thigh attachment member disposed in a wearable robot according to an embodiment of the present disclosure.

[0036] Figure 8 It shows Figure 7 An enlarged view of the area where the lower connecting rod and the thigh attachment component connect.

[0037] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Detailed Implementation

[0038] When a component, apparatus, element, etc., of this disclosure is described as having a purpose or performing an operation or function, the component, apparatus, element, etc., shall be considered herein as being "configured to" satisfy that purpose or perform that operation or function.

[0039] In the following description, a wearable robot 10 according to an embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0040] Wearable robots

[0041] Figure 1 This is a view showing a person wearing a wearable robot according to an embodiment of this disclosure, and Figure 2 This is a perspective view of a wearable robot according to the present disclosure. Figure 3 This is an enlarged view showing the area where the upper and lower body parts of the wearable robot according to this disclosure connect when viewed from the rear. Figure 4 This is an enlarged view showing the area where the upper and lower body parts of the wearable robot according to this disclosure are connected when viewed from the front. Figure 5 This is an enlarged view showing the upper connecting rod and surrounding components of the upper body portion of the wearable robot according to this disclosure, and Figure 6 This is an enlarged view showing the chest attachment member and surrounding components disposed in the upper body portion of a wearable robot according to the present disclosure. Figure 7 This is a view showing the auxiliary power generation module, lower connecting link, and thigh attachment member disposed in the wearable robot according to the present disclosure, and Figure 8 It shows Figure 7 An enlarged view of the area where the lower connecting rod and the thigh attachment component connect.

[0042] The wearable robot according to this disclosure can be used to provide auxiliary power to assist human muscle strength. For example, the wearable robot according to this disclosure can provide auxiliary power to assist the muscles of a person's lower back. For example, when a person wearing the wearable robot bends over, it can generate auxiliary power in the direction of the person's lower back extension. In the following, in this specification, the wearable robot according to this disclosure is described based on the standing state of a person wearing the wearable robot, according to its function and purpose. More specifically, in this specification, the forward-backward, left-right, and up-down directions of a person wearing the wearable robot are defined as the forward-backward, left-right, and up-down directions of the wearable robot, respectively.

[0043] refer to Figure 1 and Figure 2The wearable robot 10 according to this disclosure may include: an upper body portion 100 configured to be at least partially and tightly attached to a person's upper body; and a lower body portion 200 configured to be at least partially and tightly attached to a person's lower body and connected to the upper body portion 100. The upper body portion 100 and the lower body portion 200 of the wearable robot 10 may be configured to rotate relative to each other in a forward-backward direction. More specifically, when a person bends over while wearing the wearable robot 10, the upper body portion 100 may rotate forward, such that the lower body portion 200 may generate auxiliary power in a direction opposite to the direction of rotation of the upper body portion 100 (i.e., the direction of backward rotation of the lower body portion 200).

[0044] refer to Figure 3 and Figure 4 The upper body portion 100 of the wearable robot 10 may include: a waist belt member 110 configured to be worn on a person's waist; a central connecting link 120 having one side connected to the lower body portion 200; and a belt connecting member 130 having one side connected to the waist belt member 110 and the other side connected to the central connecting link 120. The upper body portion 100 may also include an upper connecting link 140 having one side connected to the central connecting link 120 and including a segment extending toward the person's chest. The waist belt member 110 may have a shape surrounding the person's waist, and the belt connecting member 130 may be configured between the waist belt member 110 and the central connecting link 120. For example, the belt connecting member 130 may include a first region fixed to the waist belt member 110 and a second region fixed to the central connecting link 120. The first and second regions may be coupled by a ratchet member or the like for repeated attachment or detachment.

[0045] The intermediate connecting rod 120 and the strap connecting member 130 can be configured as side portions facing the waist and hip joint in the left-right direction. Furthermore, the intermediate connecting rod 120 can be located in the lower portion of the strap connecting member 130.

[0046] Meanwhile, the upper connecting rod 140 can be a component extending from the middle connecting rod 120. When a person wears the wearable robot 10, the upper connecting rod 140 can be positioned on the front side of the person's upper body.

[0047] Furthermore, the upper body portion 100 of the wearable robot 10 according to this disclosure can be configured to rotate relative to the lower body portion 200 not only in the forward and backward direction but also in the left and right direction. Therefore, according to this disclosure, a person can smoothly bend over in the left and right directions while wearing the wearable robot 10.

[0048] Specifically, the wearable robot 10 according to this disclosure may have a structure that does not cause a foreign body sensation even when a person performs a more complex rotational movement involving joints in the left-right direction, such as bending over in the left-right direction with the legs extended.

[0049] In order to achieve the above objectives, according to this disclosure, such as Figure 3 and Figure 4 As shown, the strap connecting member 130 and the intermediate connecting rod 120 can be connected to rotate about a first rotation axis A1, and the intermediate connecting rod 120 and the upper connecting rod 140 can be connected to rotate about a second rotation axis A2 spaced apart from the first rotation axis A1. That is, according to this disclosure, two or more regions of the upper body portion 100 can perform rotational movements.

[0050] Specifically, according to this disclosure, as described above, because the intermediate connecting rod 120 and the strap connecting member 130 are configured to face the left and right sides of the waist and hip joint of a person based on the left and right direction, two or more areas of the upper body portion 100 adjacent to the waist and hip joint of a person can perform rotational movements according to the person's posture.

[0051] For example, such as Figure 3 and Figure 4 As shown, the first rotation axis A1 and the second rotation axis A2 can be defined as parallel to each other, and the first rotation axis A1 can be defined above the second rotation axis A2. For example, the first rotation axis A1 and the second rotation axis A2 can be arranged to face the waist and hip joint of a person in the left-right direction.

[0052] According to this disclosure, when a person wearing the wearable robot 10 extends their legs, the intermediate connecting link 120 can rotate about a first rotation axis A1 relative to the strap connecting member 130, and associated with this rotational movement of the intermediate connecting link 120, a rotational movement about a second rotation axis A2 can also be performed between the intermediate connecting link 120 and the upper connecting link 140. More specifically, as Figure 3 and Figure 4 As shown, the first rotation axis A1 can be defined on the outside of the second rotation axis A2 based on the left and right direction.

[0053] At the same time, refer to Figure 5 and Figure 6The upper connecting rod 140 disposed in the upper body portion 100 may include multiple components. More specifically, the upper connecting rod 140 may include: a first upper connecting rod member 141, one side of which is connected to the intermediate connecting rod 120 and configured to rotate about a second rotation axis A2; and a second upper connecting rod member 142, connected to the upper region of the first upper connecting rod member 141. The first upper connecting rod member 141 includes a section extending toward the chest of the person. For example, the second upper connecting rod member 142 may have a generally straight rod shape.

[0054] In one embodiment of this disclosure, the first upper link member 141 and the second upper link member 142 may be configured to perform translational and rotational movements relative to each other. More specifically, the second upper link member 142 may be configured to move relative to the first upper link member 141 in a direction parallel to the extending direction of the first upper link member 141 in the region where the second upper link member 142 is connected to the first upper link member 141 (i.e., perform translational movements). Furthermore, the second upper link member 142 may be connected to the first upper link member to be able to rotate about a rotation axis A3 (hereinafter referred to as the "third rotation axis") parallel to the extending direction of the first upper link member 141 in the region where the second upper link member 142 is connected to the first upper link member 141.

[0055] For example, such as Figure 5 and Figure 6 As shown, the first upper link member 141 may include a hollow tube region with an empty interior, and the second upper link member 142 may be inserted into the hollow tube region. In this case, the second upper link member 142 may extend in a direction parallel to the hollow tube region of the first upper link member 141 (e.g., Figure 5 and Figure 6 Translational motion (as shown in the direction of oblique upward extension). The second upper connecting rod member 142 is capable of rotating about a third rotation axis A3 defined in the hollow tube region and configured to be parallel to the extension direction of the hollow tube region.

[0056] Continue to refer to Figure 4 and Figure 5The first upper link member 141 may have a curved or bent shape. More specifically, the first upper link member 141 may include a first-first upper link region 141-1, which is connected to the intermediate connecting link 120 and configured to rotate about a second rotation axis A2. Specifically, the first-first upper link region 141-1 may extend forward from the intermediate connecting link 120. The first upper link member 141 may also include a first-second upper link region 141-2, which is curved or bent from the first-first upper link region 141-1 and extends upward. In this case, the second upper link member 142 may be connected to the upper region of the first-second upper link region 141-2. More specifically, a hollow tube region may be disposed in the first-second upper link region 141-2, and the second upper link member 142 may be inserted into the first-second upper link region 141-2.

[0057] In another implementation, refer to Figure 5 and Figure 6 The upper body portion 100 of the wearable robot 10 may further include: a chest attachment member 150 configured to be tightly attached to a person's chest; and an upper rotating intermediate link 160 fixed to the chest attachment member 150 and connected on one side to a second upper link member 142. In one embodiment, the upper rotating intermediate link 160 may be rotatably connected to the second upper link member 142. In this case, the chest attachment member 150 can rotate according to changes in the person's posture, thereby helping to prevent the chest attachment member 150 from excessively compressing the person's chest.

[0058] More specifically, the upper rotating intermediate link 160 can be connected to the second upper link member 142 and configured to rotate about two or more rotation axes A4, A5. More specifically, the two or more rotation axes A4, A5 can be perpendicular to each other. For example, one of the two or more rotation axes A4, A5 (A4, hereinafter referred to as the "fourth rotation axis") can extend in the front-rear direction, and the other of the two or more rotation axes A4, A5 (A5, hereinafter referred to as the "fifth rotation axis") can extend in the left-right direction.

[0059] In another implementation, refer to Figure 1 , Figure 2 and Figure 7The lower body portion 200 of the wearable robot 10 may further include an auxiliary power generation module 210 configured to generate a rotational restoring force in relation to the rotational angle between the upper body portion 100 and the lower body portion 200, and the auxiliary power generation module 210 is connected to an intermediate connecting link 120. More specifically, when a person bends over, relative rotational movement can occur between the upper body portion 100 and the lower body portion 200. Therefore, the intermediate connecting link 120 can also perform rotational movement relative to the auxiliary power generation module 210, and a portion of the auxiliary power generation module 210 connected to the intermediate connecting link 120 can perform rotational movement relative to another portion of the auxiliary power generation module 210 as the intermediate connecting link 120 rotates. Therefore, the auxiliary power generation module 210 can generate a rotational restoring force applied in the opposite direction to the direction in which the intermediate connecting link 120 performs rotational movement, and the auxiliary power generation module 210 can transmit the rotational restoring force to the intermediate connecting link 120. For example, in order to generate rotational restoring force, the auxiliary power generation module 210 may include an elastic member (not shown) configured to elastically deform in conjunction with the rotational motion of the intermediate connecting link 120.

[0060] In another implementation, refer to Figure 7 The lower body portion 200 of the wearable robot 10 may also include a lower connecting rod 220 connected to one side of the auxiliary power generation module 210. For example, Figure 7 The state of the lower connecting link 220 connected to the lower region of the auxiliary power generation module 210 is shown.

[0061] In one embodiment, the lower body portion 200 may further include a thigh attachment member 230 disposed on one side of the lower connecting link 220 and configured to be tightly attached to the person's thigh. The thigh attachment member 230 may be supported by the person's thigh, and the chest attachment member 150 may be supported by the person's chest. Therefore, when the person bends over, the relative rotational movement of the upper body portion 100 relative to the lower body portion 200 may also occur through the supporting force exerted on the person's chest by the chest attachment member 150 and the supporting force exerted on the person's thigh by the thigh attachment member 230.

[0062] More specifically, according to this disclosure, the thigh attachment member 230 can be connected to the lower connecting link 220 and configured to rotate about two or more rotation axes A6, A7. For example, the two or more rotation axes A6, A7 can be perpendicular to each other. For example, as Figure 7 and Figure 8As shown, one of the two or more rotation axes A6, A7 (A6, hereinafter referred to as the "sixth rotation axis") can extend in the front-back direction. The other of the two or more rotation axes A6, A7 (A7, hereinafter referred to as the "seventh rotation axis") can extend in the left-right direction. When the thigh attachment member 230 is rotatably connected to the lower connecting link 220, the relative positional relationship between the thigh attachment member 230 and the lower connecting link 220 can change according to changes in the person's posture, thereby preventing the thigh attachment member 230 from excessively compressing the person's thigh.

[0063] In one embodiment, the lower connecting rod 220 can be fixedly connected to the auxiliary power generation module 210.

[0064] Alternatively, see Figure 7 The lower connecting rod 220 can be connected to the auxiliary power generation module 210 and configured to rotate about the rotation axis A8.

[0065] In one embodiment of this disclosure, the wearable robot 10 may include: a left wearable robot configured to be worn on the left side of a person; and a right wearable robot configured to be worn on the right side of a person. In this case, the left and right wearable robots configured to be worn on a person can be configured as separate components. The configuration of the two wearable robots as separate components can mean that the two wearable robots are spaced apart from each other without physical connection. Furthermore, for example, according to this disclosure, the left and right wearable robots can have symmetrical shapes relative to the person. However, as mentioned above, because the two wearable robots are not physically connected, a change in posture of one of the two wearable robots may not directly affect a change in posture of the other wearable robot.

[0066] This disclosure has been described with reference to limited embodiments and accompanying drawings, but is not limited thereto. Those skilled in the art to which this disclosure pertains can implement this disclosure in various forms within the scope of the technical concept and equivalents of the appended claims.

Claims

1. A wearable robot, comprising: The upper body portion is configured to be at least partially and tightly attached to the upper body of a person; as well as The lower body portion is configured to be at least partially and tightly attached to the lower body of a person and connected to the upper body portion. The upper body portion includes: A waist belt component, configured to be worn on a person's waist; The intermediate connecting rod has one side that connects to the lower body part; A belt connecting member includes: a first side connected to the waist belt member and a second side connected to the intermediate connecting link; and The upper connecting rod includes: a side connected to the intermediate connecting rod, and a section extending toward the human chest. The strap connecting member and the intermediate connecting rod are connected to be able to rotate around a first rotation axis, and The intermediate connecting rod and the upper connecting rod are connected to be able to rotate around a second rotation axis that is spaced apart from the first rotation axis.

2. The wearable robot according to claim 1, wherein, The first axis of rotation and the second axis of rotation are parallel to each other.

3. The wearable robot according to claim 1, wherein, The first axis of rotation is positioned above the second axis of rotation.

4. The wearable robot according to claim 1, wherein, The first rotation axis is positioned outside the second rotation axis in the left-right direction.

5. The wearable robot according to claim 1, in, The upper connecting rod includes: A first upper connecting rod member has one side connected to the intermediate connecting rod and is configured to rotate about the second rotation axis; and The second upper link member is connected to the upper region of the first upper link member, and The first upper connecting rod member includes a section extending toward the chest of the person, and The second upper link member is configured to be movable relative to the first upper link member in a direction parallel to the extending direction of the first upper link member in the region where the second upper link member and the first upper link member are connected.

6. The wearable robot according to claim 5, wherein, The second upper link member is connected to the first upper link member, and the second upper link member is configured to rotate about a third rotation axis parallel to the extension direction of the first upper link member in the region where the second upper link member and the first upper link member are connected.

7. The wearable robot according to claim 5, wherein, The first upper link member includes a hollow tube region with an empty interior, and the second upper link member is inserted into the hollow tube region.

8. The wearable robot according to claim 5, wherein, The first upper connecting rod component includes: A first-first upper link region, connected to the intermediate connecting link and configured to rotate about the first rotation axis, and the first-first upper link region extending forward from the intermediate connecting link; and The first-second upper link region bends upward and extends from the first-first upper link region, and The second upper link member is connected to the upper region of the first-second upper link region.

9. The wearable robot according to claim 5, wherein, The upper body also includes: A chest attachment member configured to fit snugly onto the human chest; and The upper rotating intermediate link has a first side fixed to the chest attachment member and a second side connected to the second upper link member, and The upper rotating intermediate link is rotatably connected to the second upper link member.

10. The wearable robot according to claim 9, wherein, The upper rotating intermediate link is connected to the second upper link member and is configured to rotate about two or more rotation axes.

11. The wearable robot according to claim 10, wherein, The two or more axes of rotation are perpendicular to each other.

12. The wearable robot according to claim 10, wherein, Of the two or more rotation axes, one rotation axis extends in the front-to-back direction, and the other rotation axis extends in the left-to-right direction.

13. The wearable robot according to claim 1, in, The lower body portion includes: An auxiliary power generation module is connected to the intermediate connecting rod and configured to generate a rotational restoring force in association with the rotational angle between the upper body part and the lower body part; The lower connecting rod connects to one side of the auxiliary power generation module; and A thigh attachment member is disposed on one side of the lower connecting link and configured to be tightly attached to the person's thigh. The thigh attachment member is rotatably connected to the lower connecting rod.

14. The wearable robot according to claim 13, wherein, The thigh attachment member is connected to the lower connecting link and configured to rotate about two or more rotation axes.

15. The wearable robot according to claim 14, wherein, The two or more axes of rotation are perpendicular to each other.

16. The wearable robot according to claim 14, wherein, Of the two or more rotation axes, one rotation axis extends in the front-to-back direction, and the other rotation axis extends in the left-to-right direction.

17. The wearable robot according to claim 13, wherein, The lower connecting rod is fixedly connected to the auxiliary power generation module.

18. The wearable robot according to claim 13, wherein, The lower connecting rod is connected to the auxiliary power generation module and configured to rotate about the rotation axis.

19. The wearable robot according to claim 1, further comprising: A wearable robot designed to be worn on the left side of a person; as well as The right-side wearable robot is designed to be worn on the right side of the body. The left wearable robot and the right wearable robot are configured as separate components.

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