Gravity compensator for wearable muscle power assist device

Abstract

The present application relates to a gravity compensator applied to a wearable muscle strength assisting device. The gravity compensator comprises a first link configured to extend parallel to a first body part of a wearer, a second link configured to extend parallel to a second body part and rotatably coupled to one end of the first link, an elastic body fixed to the first link at one end thereof to exert an elastic force varying according to a length between both ends thereof, and a connection unit having one end connected to the other end of the elastic body and extending in a longitudinal direction of the first link and having one end connected to the second link to vary the length of the elastic body through relative rotation between the first link and the second link.

Description

Technical Field

[0001] The present invention relates to a gravity compensator for use in a wearable muscle strength assist device, and more specifically, the present invention relates to a gravity compensator configured to be worn on the upper limb of the wearer's body and to simulate the movement of the wearer's shoulder in order to assist the muscle strength of the upper limb. Background Technology

[0002] Wearable robots are typically designed for medical, military, or work assistance purposes. They assist the wearer's movement by being worn on or accommodating specific parts of the body. Specifically, wearable work robots are designed to prevent injury to the wearer and assist their muscle strength by reducing the load applied to the wearer's body. Such wearable robots are constructed to mimic external body parts of the wearer. In such wearable robots, it is technically crucial to design joints to achieve movements identical to those of the human body.

[0003] Specifically, muscle strength assist devices for wearable upper arms typically include a manual support device configured to assist the body in supporting the load of the tool. For example, the manual support device can be constructed to compensate for gravity within a set range using a combination of components, springs, cables, and pulleys. In particular, such a device is constructed to compensate for gravity within a limited range of motion.

[0004] Traditional gravity compensators include a drive unit consisting of a motor and a reducer, which unintentionally increases the size and weight of the device. Therefore, these components need to be replaced to solve the problem.

[0005] The details described in the background section are intended only to facilitate an understanding of the background of the invention and should not be construed as an endorsement of prior art known to those skilled in the art. Summary of the Invention

[0006] Therefore, the present invention provides a gravity compensator for wearable muscle strength assist devices, wherein the motor and reducer, which are usually located in conventional gravity compensators, have been replaced by elastomers and wires to reduce manufacturing costs and weight.

[0007] According to the present invention, the above and other objectives can be achieved by providing a gravity compensator for a wearable muscle strength assist device, the gravity compensator comprising a first link, a second link, an elastomer, and a connecting unit, the first link being configured to extend in a direction parallel to a first body part of the wearer; the second link being configured to extend in a direction parallel to a second body part and rotatably connected to a first end of the first link, the second body part being rotatably connected to the first end of the first body part of the wearer; the elastomer being fixed at its first end to the first link to apply an elastic force varying according to the length between its first and second ends; the connecting unit being connected at its first end to a second end of the elastomer and extending in the longitudinal direction of the first link, and connected at its second end to the second link to change the length of the elastomer by relative rotation between the first and second links.

[0008] The connecting unit may include a first rotating body, which is fixed to the second connecting rod at the position where the first connecting rod is connected to the second connecting rod, and is rotatably fixed to the first connecting rod.

[0009] The connecting unit may include a first thread, a second rotating body, and a rotating linkage unit. The first thread is connected to the first rotating body at its first end and extends in the longitudinal direction of the first linkage. The second rotating body is connected to the second end of the first thread and rotatably connected to the first linkage. The rotating linkage unit is fixed to the second rotating body at its first end and connected to the second end of an elastic body at its second end, so as to change the length of the elastic body and the direction of the elastic force of the elastic body applied to the second rotating body according to the rotation of the second rotating body.

[0010] The gravity compensator may further include a third wire, which is composed of multiple third wires and is rotatably fixed at its first end to a drive motor mounted on a first connecting rod, and connected at its second end to a second connecting rod. The first rotating body includes a first wire groove and a second wire groove, the first wire being accommodated in and engaging with the first wire groove, and the second wire groove being spaced apart from the first wire groove in the radial direction of the first rotating body and accommodating the third wire therein.

[0011] The rotating linkage unit may include a first rotating linkage and a second rotating linkage, wherein the first rotating linkage is rotatably fixed to a second rotating body at its first end and rotates with it; the second rotating linkage is fixed to the first linkage at its first end and rotatably connected to the second end of the first rotating linkage at its second end, wherein the second end of the elastic body is rotatably connected to the first rotating linkage.

[0012] The elastomer may include a plurality of elastomers positioned in a direction perpendicular to the longitudinal direction of the first link, and the gravity compensator may further include an elastomer link connected at a first end to a second end of an elastomer and rotatably connected at the second end to the first link.

[0013] As the second link rotates upward relative to the first link, the torque applied to the second link by the elastic force of the elastic body gradually increases and then decreases.

[0014] The second link is rotatable in the vertical direction relative to the first link and can only rotate between a first predetermined angle and a second predetermined angle, and the torque applied to the second link can be maximized at a third predetermined angle between the first predetermined angle and the second predetermined angle.

[0015] The first body part may correspond to the wearer's shoulder, while the second body part may correspond to the upper arm that is rotatably connected to the wearer's shoulder.

[0016] The connecting unit may include a second thread that is connected at its first end to the first rotating body and extends in the longitudinal direction of the first link, and is connected to the second end of the elastic body so as to move by the rotation of the first rotating body.

[0017] The connecting unit may include a pulley rotatably connected to the second end of the elastic body and positioned between the first and second ends of the second thread, so that the second thread winds around the pulley, and the second end of the second thread may extend in a direction opposite to the position where the second thread winds around the pulley and may be fixed to the first link.

[0018] When the second link rotates upward relative to the first link, the torque applied to the second link through the elastic force of the elastic body can gradually increase.

[0019] The first body part may correspond to the wearer's upper arm, while the second body part may correspond to the forearm that is rotatably connected to the wearer's upper arm. Attached Figure Description

[0020] The above and other objects, features, and other advantages of the present invention will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 This is a perspective view of the wearable muscle strength assist device according to the present invention;

[0022] Figure 2 and Figure 3 This is a side view of a first embodiment of a gravity compensator for a wearable muscle strength assist device according to the present invention;

[0023] Figure 4 This is a side view of a first embodiment of a gravity compensator for a wearable muscle strength assist device according to the present invention, wherein the torque applied during the rotation of the second link is maximized;

[0024] Figure 5 It is a graph showing the torque applied by gravity during the rotation of the second link and the angle of the second link in a first embodiment of the gravity compensator for a wearable muscle strength assist device according to the invention.

[0025] Figure 6 This is a front view of the first rotating body of a gravity compensator applied to a wearable muscle strength assist device according to the present invention;

[0026] Figure 7 This is a side view of a second embodiment of a gravity compensator for a wearable muscle strength assist device according to the present invention;

[0027] Figure 8A , Figure 8B , Figure 9A ,and Figure 9B The accompanying drawings show a side view of a second embodiment of a gravity compensator according to the invention, applied to a wearable muscle strength assist device, with the aid of reference numerals. Detailed Implementation

[0028] The specific structural and functional descriptions of the embodiments of the present invention disclosed herein are for illustrative purposes only. The present invention can be implemented in many different forms without departing from its spirit and essential features. Therefore, the disclosure of embodiments of the present invention is for illustrative purposes only and should not be construed as limiting the invention.

[0029] Reference will now be made in detail to various embodiments of the invention. Since various modifications can be made to these embodiments in many different forms, specific examples of which are shown in the accompanying drawings and described below. Although the invention will be described in conjunction with exemplary embodiments, it should be understood that this specification is not intended to limit the invention to those exemplary embodiments. Rather, the invention is intended to cover not only the exemplary embodiments but also various alternative embodiments, modified embodiments, equivalent embodiments, or other embodiments, which are included within the spirit and scope of the invention as defined by the appended claims.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a,” “an,” and “described” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, values, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, values, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. Throughout the specification, unless expressly stated to the contrary, the words “comprising” and variations such as “including” or “containing” will be understood to imply the inclusion of the stated elements, but do not exclude any other elements. Additionally, the terms “unit,” “device,” “component,” and “module” described in the specification mean a unit for performing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0031] It should be understood that although the terms "first," "second," etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the teachings of the invention, the first element discussed below may be referred to as the second element. Similarly, the second element may also be referred to as the first element.

[0032] It should be understood that when an element is referred to as "connected" or "attached" to another element, it can be directly connected to or linked to the other element, or there can be an intervening element between them. Conversely, it should be understood that when an element is referred to as "directly connected" or "directly linked" to another element, there is no intervening element. Other expressions explaining the relationship between elements, such as "between," "directly between," "adjacent," or "directly adjacent," should be understood in the same way.

[0033] Unless otherwise defined, all terms used herein (including technical or scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It will be further understood that terms (such as those defined in commonly used dictionaries) should be interpreted as having the same meaning as they have in the context of the prior art and this invention, and should not be interpreted in an idealized or overly literal sense unless explicitly defined herein.

[0034] In the following, exemplary embodiments of the invention will be described in detail with reference to the accompanying drawings. Throughout the drawings, the same reference numerals will refer to the same or similar parts.

[0035] Figure 1 This is a perspective view of the wearable muscle strength assist device 1 according to the present invention. Figure 2 and Figure 3 This is a side view of a first embodiment of a gravity compensator applied to a wearable muscle strength assist device 1 according to the present invention. Figure 4 This is a side view of a first embodiment of a gravity compensator for a wearable muscle strength assist device 1 according to the present invention, wherein the torque applied during the rotation of the second link is maximized. Figure 5 It is a graph showing the torque applied by gravity during the rotation of the second link at the angle of the second link in a first embodiment of the gravity compensator of the wearable muscle strength assist device 1 according to the invention. Figure 6 This is a front view of the first rotating body of a gravity compensator applied to a wearable muscle strength assist device 1 according to the present invention. Figure 7 This is a side view of a second embodiment of a gravity compensator applied to a wearable muscle strength assist device 1 according to the present invention. Figure 8A , Figure 8B , Figure 9A ,and Figure 9B The accompanying drawings show a side view of a second embodiment of a gravity compensator according to the invention applied to a wearable muscle strength assist device 1, with the aid of reference numerals.

[0036] In the following text, reference will be made to Figures 1 to 9B A gravity compensator is described according to a preferred embodiment of the invention and applied to a wearable muscle strength assist device 1.

[0037] The gravity compensator for a wearable muscle strength assist device 1 according to the present invention may include a first embodiment and a second embodiment. The first embodiment is mounted on an external body part of the joint region where the upper arm moves relative to the wearer's shoulder; the second embodiment is mounted on an external body part of the joint region where the forearm moves relative to the wearer's upper arm. In the embodiments of the present invention, "first end" and "second end" respectively refer to the application of "first side" and "second side". A linkage is a concept that includes not only a simple connecting structure but also components or rods of the device.

[0038] The gravity compensator for a wearable muscle strength assist device 1 according to the present invention includes first links 100a and 100b, second links 200a and 200b, an elastomer 400, and a connecting unit 300; the first links 100a and 100b are configured to extend in a direction parallel to a first body part of the wearer; the second links 200a and 200b are configured to extend in a direction parallel to a second body part and are rotatably connected to one end of the first links 100a and 100b, and the second body part is rotatably connected to the first link 100a and 100b. One end of the body part; the elastic body 400 is fixed at one end to the first connecting rod 100a, 100b, and its elastic force varies according to the length between its one end and the other end; the connecting unit 300 is connected at one end to the other end of the elastic body 400 and extends in the longitudinal direction of the first connecting rod 100a, 100b, while it is connected at the other end to the second connecting rod 200a, 200b, such that the length of the elastic body 400 varies according to the relative rotation between the first connecting rod 100a, 100b and the second connecting rod 200a, 200b.

[0039] In a first embodiment of the invention, the first body part may correspond to the wearer's shoulder, and the second body part may correspond to the wearer's upper arm. In a second embodiment, the first body part may correspond to the wearer's upper arm, and the second body part may correspond to the wearer's forearm.

[0040] Since the second links 200a and 200b are rotatably connected to one end of the first links 100a and 100b, the second links 200a and 200b can rotate relative to the first links 100a and 100b.

[0041] One end of the elastic body 400 is fixed to the first connecting rods 100a and 100b as a reference, while the other end of the elastic body 400 is connected to one end of the connecting unit 300. The other end of the connecting unit 300 is connected to the rotatable second connecting rods 200a and 200b. The connecting unit 300 changes the length of the elastic body 400 according to the rotation angle of the second connecting rods 200a and 200b, so that when the second connecting rods 200a and 200b, located below the first connecting rods 100a and 100b, rotate upward, the length of the elastic body 400 decreases, so as to generate torque in the opposite direction to the torque generated by gravity, thereby compensating for gravity and assisting the wearer of the wearable muscle strength assist device 1 in strengthening their muscles.

[0042] The connecting unit 300 includes a first rotating body 310, which is fixed to the second connecting rods 200a and 200b at the position where the first connecting rods 100a and 100b are connected to the second connecting rods 200a and 200b, and is rotatably connected to the first connecting rods 100a and 100b.

[0043] Since the connecting unit 300 includes a first rotating body 310, which is fixedly connected to the second connecting rods 200a and 200b so that it rotates together with the second connecting rods 200a and 200b when they rotate, the elastic force of the elastic body 400 connected to the other end of the connecting unit 300 can be transmitted to the second connecting rods 200a and 200b to compensate for the torque generated at the second connecting rods 200a and 200b due to gravity.

[0044] The first rotating body 310 can be configured to have a circular shape and can be connected on the same rotation axis as the axis at the connection point of the second connecting rods 200a and 200b.

[0045] An elastic body 400, which may include multiple elastic bodies, includes an elastic body link 500, which is arranged in a direction perpendicular to the longitudinal direction of the first links 100a and 100b and is connected at one end to the other end of the elastic body 400, and at the other end is rotatably connected to the first links 100a and 100b.

[0046] The elastic body 400 can be made of an elastic object (such as a spring) and can include multiple elastic bodies arranged in a direction perpendicular to the first connecting rods 100a and 100b. Since the elastic body 400 consists of multiple elastic bodies, a large elastic force can be transmitted even when the angular displacement of the first rotating body 310 and the second rotating body 330 is small. Furthermore, the elastic force applied to the second connecting rods 200a and 200b can be advantageously adjusted by adjusting the number of elastic bodies 400.

[0047] The following section will provide a description of the first implementation scheme.

[0048] In a first embodiment of the invention, a first body part corresponds to the wearer's shoulder, and a second body part corresponds to the upper arm that is rotatably connected to the wearer's shoulder.

[0049] Therefore, when the wearer attempts to rotate his / her upper arm upward, the elasticity of the elastic body 400 connected to the second link 200a, 200b can be used to assist the wearer's upper limb muscle strength by compensating for the torque generated at the upper arm due to gravity.

[0050] The connecting unit 300 includes a first thread 320, a second rotating body 330, and a rotating linkage unit 340. The first thread 320 is connected to the first rotating body 310 at one end and extends in the longitudinal direction of the first linkage 100a. The second rotating body 330 is connected to the other end of the first thread 320 and is rotatably connected to the first linkages 100a and 100b. The rotating linkage unit 340 is fixed to the second rotating body 330 at one end and connected to the elastic body 400 at the other end so as to change the length of the elastic body 400 and the direction of the elastic force of the elastic body 400 acting on the second rotating body 330 according to the rotation of the second rotating body 330.

[0051] The first thread 320, the second rotating body 330, and the rotating connecting rod unit 340 can be applied to the first embodiment of the present invention.

[0052] The first thread 320 is fixed at one end to the first rotating body 310 and at the other end to the second rotating body 330. Each of the first and second rotating bodies 310 may have a groove in its outer peripheral surface so that the first thread 320 is received in the groove of the first rotating body 310 and engages with the groove of the second rotating body 330. Therefore, when the first rotating body 310 rotates, causing the first thread 320 to wrap around the groove, the first thread 320, already wrapped around the second rotating body 330, unwraps from the second rotating body 330. Similarly, when the first thread 320 unwraps from the first rotating body 310 due to the rotation of the first rotating body 310, the first thread 320 wraps around the second rotating body 330.

[0053] One end of the rotating linkage unit 340 is rotatably connected to the second rotating body 330, while the other end is connected to the elastic body 400. Thus, the elastic force of the elastic body 400 is converted into the torque of the second rotating body 330, and the torque of the second rotating body 330 can be transmitted to the first rotating body 310 via the first thread 320.

[0054] Therefore, the elastic force of the elastomer 400 is converted into the torque of the second rotating body 330 via the rotating linkage unit 340, and the torque is transmitted to the first rotating body 310 to compensate for the torque generated by gravity at the second linkage 200a, thereby assisting the wearer's upper limb muscle strength.

[0055] The gravity compensator further includes a third wire 600, which is connected at one end to a drive motor mounted on the first connecting rods 100a and 100b, and at the other end to the second connecting rods 200a and 200b, so as to cause the first connecting rods 100a and 100b to rotate relative to the second connecting rods 200a and 200b. The third wire 600 is preferably composed of multiple third wires. The first rotating body 310 includes a first wire groove and a second wire groove 312. The first wire 320 is received in and engages with the first wire groove; the second wire groove 312 is formed to be spaced apart from the first wire groove 311 in the radial direction of the first rotating body 310 and to receive the third wire 600 therein.

[0056] The third wire 600 is connected at one end to a drive motor (not shown) mounted on the first connecting rods 100a and 100b, and at the other end to the second connecting rods 200a and 200b. Activating the drive motor (not shown) moves the third wire 600, causing the first connecting rods 100a and 100b and the second connecting rods 200a and 200b to rotate relative to each other.

[0057] The third wire 600 can be composed of multiple third wires 600. For example, the third wire 600 can be composed of two third wires 600 so that the first connecting rods 100a, 100b and the second connecting rods 200a, 200b can rotate relative to each other.

[0058] refer to Figure 6 The first rotating body 310 may be provided with a first wire groove 311, in which the first wire 320 is accommodated and engaged, so as to rotate the first rotating body 310.

[0059] The first rotating body 310 may be provided with a second wire groove 312, which is radially spaced from the first wire groove 311 and accommodates a plurality of third wires 600 therein. When the drive motor moves the third wires 600 to cause the first connecting rods 100a, 100b and the second connecting rods 200a, 200b to rotate relative to each other, the third wires 600 accommodated in the second wire groove 312 can be moved to rotate the first rotating body 310.

[0060] This can be applied to the first and second embodiments of the present invention. In the second embodiment, the second thread 350 can be accommodated in the first thread groove 311.

[0061] The rotating linkage unit 340 includes a first rotating linkage 341 and a second rotating linkage 342. The first rotating linkage 341 is rotatably fixed at one end to a second rotating body 330 so as to rotate with it. The second rotating linkage 342 is fixed at one end to a first linkage 100a and rotatably fixed at the other end to the other end of the first rotating linkage 341. The other end of the elastic body 400 can be rotatably connected to the first rotating linkage 341.

[0062] When one end of the first rotating link 341 is connected to the second rotating body 330, and one end of the second rotating link 342 is fixedly connected to the first link 100a, the other ends of the first rotating link 341 and the other ends of the second rotating link 342 are rotatably connected to each other. The other end of the elastic body 400 can be rotatably connected to the first rotating link 341. The first rotating link 341 can convert the elastic force of the elastic body 400 into torque.

[0063] refer to Figure 5 The torque generated at point 200a of the second connecting rod is Figure 4 The third predetermined angle (γ) is maximized. At this time, the second rotating link 342 can convert the elastic force of the elastic body 400 into the torque of the second rotating body 330 at the third predetermined angle (γ).

[0064] Since the elastic link 500 is connected to one end of the elastic body 400 at one end and rotatably connected to the first link 100a at the other end, the elastic link 500 rotates so as to be linearly aligned with the elastic body 400 according to the rotation of the rotating link unit 340 connected to the other end of the elastic body 400, thereby enabling the elastic body 400 to apply elastic force normally.

[0065] When the second link 200a rotates upward relative to the first link 100a, the torque applied to the second link 200a by the elastic force of the elastic body 400 gradually increases and then decreases.

[0066] Refer again Figure 5 The graph displayed shows the torque generated at the second link 200a due to gravity and the angle of the second link 200a relative to the first link 100a. Figure 5In the diagram, point A is the point where the angle between the first link 100a and the second link 200a is a first predetermined angle (α), point C is the point where the angle between the first link 100a and the second link 200a is a second predetermined angle (β), and point B is the point where the angle between the first link 100a and the second link 200a is a third predetermined angle (γ). Therefore, it can be seen that the torque applied to the second link 200a due to the elastic force of the elastic body 400 varies according to the angle of the second link 200a, and the elastic force of the elastic body 400 is converted into torque and varies according to the rotation of the second link 200a.

[0067] The second link 200a is rotatable in the vertical direction relative to the first link 100a between a first predetermined angle and a second predetermined angle, and the torque applied to the second link 200a has a maximum value at a third predetermined angle between the first predetermined angle and the second predetermined angle.

[0068] Figure 5 This is a graph showing the torque generated at the second link 200a due to gravity and the rotation angle of the second link 200a relative to the first link 100a. Since the angle between the first link 100a and the second link 200a at point B is a third predetermined angle (γ), the torque generated at the second link 200a due to gravity is maximized. Accordingly, the elastic force applied to the second link 200a by the elastic body 400 connected to the rotating link unit 340 is maximized at the third predetermined angle (γ).

[0069] In a second embodiment of the invention, the first body part may correspond to the wearer's upper arm, and the second body part may correspond to the wearer's forearm. Accordingly, the second embodiment can be applied to compensate for the torque generated at the wearer's forearm due to gravity when the wearer rotates his / her forearm upward relative to his / her upper arm.

[0070] The connecting unit 300 includes a second wire 350, one end of which is connected to the first rotating body 310 and extends in the longitudinal direction of the second connecting rod 200a, while the other end is connected to the elastic body 400 and moves by the rotation of the first rotating body 310.

[0071] In a second embodiment of the invention, one end of the second thread 350 is connected to the first rotating body 310, and the other end of the second thread 350 is connected to the elastic body 400. When the first rotating body 310 rotates, the second thread 350 wraps around the first rotating body 310, thereby extending the elastic body 400. Here, as the rotation angle of the first rotating body 310 increases, the elastic force of the elastic body 400 also increases. Correspondingly, the elastic force of the elastic body 400 increases proportionally to the increase in the rotation angle of the second connecting rod 200b.

[0072] The connecting unit 300 includes a pulley 360 rotatably connected to the other end of the elastic body 400 and positioned between one end and the other end of the second thread 350 so that the second thread 350 is wound around the pulley 360. The other end of the second thread 350 extends in the opposite direction to the winding of the second thread 350 around the pulley 360 and is fixed to the first connecting rod 100b.

[0073] The other end of the elastomer 400 can be connected to the pulley 360, and the second thread 350 can extend in the opposite direction to the direction in which the second thread 350 is connected to the pulley 360 and can be connected to the first link 100b at the other end.

[0074] Therefore, by means of pulley 360, the first rotating body 310 can be connected to the elastic body 400, and the elastic force of the elastic body 400 can be transmitted to the first rotating body 310 at a distance equal to half the length of the second thread 350.

[0075] The second wire 350, which connects the first rotating body 310 to the pulley 360, may be provided with a grooved wheel located between the first rotating body 310 and the pulley 360 to prevent the second wire 350 from moving in a direction perpendicular to its longitudinal direction when supporting the second wire 350. Therefore, the second wire 350 can be stabilized.

[0076] As the second link 200b rotates upward relative to the first link 100b, the torque applied to the second link 200a by the elastic force of the elastic body 400 gradually increases.

[0077] The elastomer 400 is connected to the first rotating body 310 only via the second thread 350 and the pulley 360, so that the elastic force of the elastomer 400 increases or decreases as the first rotating body 310 rotates. Therefore, when the second link 200b rotates upward, the length of the elastomer 400 increases according to the rotation angle of the second link 200b. Consequently, because the elastic force of the elastomer 400 increases according to the rotation angle of the second link 200b, it can assist the wearer's muscle strength when raising his / her forearm.

[0078] As is evident from the above description, the present invention provides a gravity compensator for a wearable muscle strength assist device. This gravity compensator comprises cables, rollers, an elastomer, and a linkage, and it assists the wearer in strengthening the muscles of the upper limbs. The gravity compensator compensates for the torque caused by gravity when the wearer raises his / her upper arm and / or forearm. Furthermore, because the gravity compensator is composed of cables, rollers, an elastomer, and a linkage instead of a motor and a reducer, it reduces manufacturing costs and weight.

[0079] Although preferred embodiments of the invention have been disclosed for illustrative purposes, those skilled in the art will understand that various modifications, additions, and deletions are possible without departing from the scope and spirit of the invention as disclosed in the appended claims.

Claims

1. A gravity compensator for use in a wearable muscle strength assist device, the gravity compensator comprising: The first link is configured to extend in a direction parallel to a first body part of the wearer; The second link is configured to extend in a direction parallel to the second body part of the wearer and be rotatably connected to the first side of the first link, wherein the second body part of the wearer is rotatably connected to the first side of the first body part of the wearer. An elastomer having a first side fixed to the first link, and the elastic force varying according to the length between the first side and the second side; A connecting unit having a first side connected to a second side of the elastomer, the connecting unit extending along the longitudinal direction of the first link and having a second side connected to the second link, so as to change the length of the elastomer by relative rotation of the first link and the second link; The connecting unit includes a first rotating body, which is fixed to the second connecting rod at the position where the first connecting rod is connected to the second connecting rod, and is rotatably fixed to the first connecting rod. The connection unit includes: The first thread is connected to the first rotating body at its first side and extends in the longitudinal direction of the first connecting rod; A second rotating body, which is connected to a second side of the first wire and rotatably connected to the first connecting rod; and A rotating linkage unit is fixed to the second rotating body at a first side and connected to the second side of the elastic body at a second side, so as to change the length of the elastic body and the direction of the elastic force of the elastic body applied to the second rotating body according to the rotation of the second rotating body.

2. The gravity compensator for a wearable muscle strength assist device according to claim 1, further comprising a third wire, the third wire being rotatably fixed at a first side to a drive motor mounted on a first link, and connected at a second side to a second link, wherein... The first rotating body includes: A first wire groove, wherein the first wire is received in and engages with the first wire groove; and The second wire groove is spaced apart from the first wire groove in the radial direction of the first rotating body and accommodates the third wire therein.

3. The gravity compensator for wearable muscle strength assist devices according to claim 1, wherein, The rotating linkage unit includes: A first rotating link, rotatably fixed to and rotating with the second rotating body at a first side; and A second rotating link is fixed to the first link at its first side and rotatably connected to the second side of the first rotating link at its second side. The second side of the elastic body is rotatably connected to the first rotating link.

4. The gravity compensator for wearable muscle strength assist devices according to claim 1, wherein, The elastic body includes a plurality of elastic bodies, which are positioned in a direction perpendicular to the longitudinal direction of the first connecting rod. The gravity compensator further includes an elastomeric link connected at a first side to a second side of the elastomeric link, and rotatably connected at the second side to the first link.

5. The gravity compensator for wearable muscle strength assist devices according to claim 1, wherein, As the second link rotates upward relative to the first link, the torque applied to the second link by the elastic force of the elastic body gradually increases and then decreases.

6. The gravity compensator for wearable muscle strength assist devices according to claim 5, wherein, The second link is rotatable in the vertical direction relative to the first link, and can only rotate between a first predetermined angle and a second predetermined angle; The torque applied to the second link is maximized at a third predetermined angle between the first predetermined angle and the second predetermined angle.

7. The gravity compensator for wearable muscle strength assist devices according to claim 5, wherein, The first body part corresponds to the wearer's shoulder, while the second body part corresponds to the upper arm that is rotatably connected to the wearer's shoulder.

8. The gravity compensator for wearable muscle strength assist devices according to claim 1, wherein, The connecting unit includes a second thread that is connected to the first rotating body at its first side and extends in the longitudinal direction of the first connecting rod, and is connected to the second side of the elastic body so as to move by the rotation of the first rotating body.

9. The gravity compensator for wearable muscle strength assist devices according to claim 8, wherein, The connecting unit includes a pulley, which is rotatably connected to the second side of the elastomer and positioned between the first and second sides of the second filament so that the second filament can be wound around the pulley; The second side of the second thread extends in the opposite direction to the position where the second thread is wound around the pulley and is fixed to the first connecting rod.

10. The gravity compensator for wearable muscle strength assist devices according to claim 1, wherein, As the second link rotates upward relative to the first link, the torque applied to the second link by the elastic force of the elastic body gradually increases.

11. The gravity compensator for a wearable muscle strength assist device according to claim 10, wherein, The first body part corresponds to the wearer's upper arm, while the second body part corresponds to the forearm that is rotatably connected to the wearer's upper arm.

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