Reaction force adjusting device and method using variable stiffness actuator of exoskeleton system

摘要

Reaction force control device using a variable elastic actuator of the exoskeleton system according to the present invention, the first link body and the second link body connected to each other to enable joint movement; A joint axis connected between the first link body and the second link body, the joint shaft being constrained to be connected to the second link body without being constrained with the first link body; Joint drive means for rotating a second link member relative to the first link member about the joint axis; A variable elastic body connected to the joint axis to provide an elastic force between the first link body and the second link body; By including a control actuator installed on the side of the first link body to adjust the reaction force of the variable elastic body, it can increase the therapeutic effect and wearing performance by allowing the user to move more comfortable by setting the desired level of force.